68
Total objective tests
16
Objectives passed
1
Objectives failed
51
Objectives skipped
22.9s
Avg test time
94%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives1 fail12 pass24 skip
| ✕ failed | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 1.3s | 6 errors · 27 warnings · 170 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.03sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.03sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.05sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.40sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.77sINFOros2-18process has finished cleanly [pid 10277] ×2 + 0.78sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.78sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.78sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.78sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.78sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.84sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.84sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.86sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.86sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.86sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.86sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.87sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.87sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.20sINFOros2-10process has finished cleanly [pid 10269] ×2 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 3.37sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 4.91sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 4.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 5.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959805 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959805 ms (missed cycles : 5).[0m ×2 + 6.63sWARNobjective_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 + 6.63sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.08sINFOjoint_trajectory_controllerReceived new action goal + 7.08sINFOjoint_trajectory_controllerAccepted new action goal + 7.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734521 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734521 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 71.3s | 3 errors · 234 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519541 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519541 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.128889 ms (missed cycles : 8). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.128889 ms (missed cycles : 8).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931141 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931141 ms (missed cycles : 3).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGot request to cancel goal + 3.07sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.07sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.07sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782483350.32262397 seconds ×3 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757132 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757132 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782483350.88055706 seconds. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (1.14e-06 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679763 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679763 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159510 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159510 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.33sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.33sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.33sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530590 ms (missed cycles : 8). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530590 ms (missed cycles : 8).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132225 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132225 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339512 ms (missed cycles : 4). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339512 ms (missed cycles : 4).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827267 ms (missed cycles : 3). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827267 ms (missed cycles : 3).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076088 ms (missed cycles : 5). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076088 ms (missed cycles : 5).[0m ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817690 ms (missed cycles : 2). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817690 ms (missed cycles : 2).[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.419907 ms (missed cycles : 7). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.419907 ms (missed cycles : 7).[0m ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682199 ms (missed cycles : 2). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682199 ms (missed cycles : 2).[0m ×2 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924994 ms (missed cycles : 3). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924994 ms (missed cycles : 3).[0m ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065740 ms (missed cycles : 2). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065740 ms (missed cycles : 2).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.813776 ms (missed cycles : 6). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.813776 ms (missed cycles : 6).[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409453 ms (missed cycles : 4). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409453 ms (missed cycles : 4).[0m ×2 + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711619 ms (missed cycles : 2). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711619 ms (missed cycles : 2).[0m ×2 + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035668 ms (missed cycles : 4). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035668 ms (missed cycles : 4).[0m ×2 + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325397 ms (missed cycles : 5). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325397 ms (missed cycles : 5).[0m ×2 + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798731 ms (missed cycles : 3). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798731 ms (missed cycles : 3).[0m ×2 + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354570 ms (missed cycles : 2). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354570 ms (missed cycles : 2).[0m ×2 + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978917 ms (missed cycles : 2). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978917 ms (missed cycles : 2).[0m ×2 + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778038 ms (missed cycles : 2). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778038 ms (missed cycles : 2).[0m ×2 + 25.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531223 ms (missed cycles : 2). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531223 ms (missed cycles : 2).[0m ×2 + 26.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.298340 ms (missed cycles : 7). + 26.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.298340 ms (missed cycles : 7).[0m ×2 + 28.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193916 ms (missed cycles : 3). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193916 ms (missed cycles : 3).[0m ×2 + 29.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261721 ms (missed cycles : 2). + 29.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261721 ms (missed cycles : 2).[0m ×2 + 30.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111338 ms (missed cycles : 7). + 30.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111338 ms (missed cycles : 7).[0m ×2 + 31.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176128 ms (missed cycles : 3). + 31.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176128 ms (missed cycles : 3).[0m ×2 + 32.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128052 ms (missed cycles : 2). + 32.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128052 ms (missed cycles : 2).[0m ×2 + 32.56sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.56sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.93sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715042 ms (missed cycles : 3). + 33.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715042 ms (missed cycles : 3).[0m ×2 + 33.61sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×9 + 33.61sINFOobjective_server_nodePlanning for 26 path waypoints. ×3 + 34.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148539 ms (missed cycles : 5). + 34.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148539 ms (missed cycles : 5).[0m ×2 + 35.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833082 ms (missed cycles : 2). + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833082 ms (missed cycles : 2).[0m ×2 + 35.49sINFOros2_control_nodeMuJoCo sim: 1.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 36.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884157 ms (missed cycles : 2). + 36.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884157 ms (missed cycles : 2).[0m ×2 + 37.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976680 ms (missed cycles : 3). + 37.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976680 ms (missed cycles : 3).[0m ×2 + 38.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106738 ms (missed cycles : 2). + 38.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106738 ms (missed cycles : 2).[0m ×2 + 39.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781185 ms (missed cycles : 3). + 39.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781185 ms (missed cycles : 3).[0m ×2 + 40.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987275 ms (missed cycles : 3). + 40.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987275 ms (missed cycles : 3).[0m ×2 + 41.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847335 ms (missed cycles : 2). + 41.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847335 ms (missed cycles : 2).[0m ×2 + 42.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979924 ms (missed cycles : 3). + 42.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979924 ms (missed cycles : 3).[0m ×2 + 43.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101982 ms (missed cycles : 5). + 43.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101982 ms (missed cycles : 5).[0m ×2 + 44.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707240 ms (missed cycles : 2). + 44.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707240 ms (missed cycles : 2).[0m ×2 + 45.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.499301 ms (missed cycles : 6). + 45.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.499301 ms (missed cycles : 6).[0m ×2 + 46.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120527 ms (missed cycles : 2). + 46.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120527 ms (missed cycles : 2).[0m ×2 + 47.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.154019 ms (missed cycles : 5). + 47.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.154019 ms (missed cycles : 5).[0m ×2 + 48.79sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 48.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.051132 ms (missed cycles : 7). + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.051132 ms (missed cycles : 7).[0m ×2 + 49.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984666 ms (missed cycles : 3). + 49.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984666 ms (missed cycles : 3).[0m ×2 + 50.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892196 ms (missed cycles : 2). + 50.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892196 ms (missed cycles : 2).[0m ×2 + 51.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856915 ms (missed cycles : 2). + 51.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856915 ms (missed cycles : 2).[0m ×2 + 53.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.630673 ms (missed cycles : 6). + 53.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.630673 ms (missed cycles : 6).[0m ×2 + 54.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246565 ms (missed cycles : 5). + 54.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246565 ms (missed cycles : 5).[0m ×2 + 55.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926956 ms (missed cycles : 3). + 55.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926956 ms (missed cycles : 3).[0m ×2 + 56.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713312 ms (missed cycles : 2). + 56.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713312 ms (missed cycles : 2).[0m ×2 + 57.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.665080 ms (missed cycles : 6). + 57.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.665080 ms (missed cycles : 6).[0m ×2 + 58.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070338 ms (missed cycles : 2). + 58.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070338 ms (missed cycles : 2).[0m ×2 + 59.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.549563 ms (missed cycles : 7). + 59.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.549563 ms (missed cycles : 7).[0m ×2 + 60.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864027 ms (missed cycles : 3). + 60.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864027 ms (missed cycles : 3).[0m ×2 + 61.17sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 61.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399954 ms (missed cycles : 4). + 61.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399954 ms (missed cycles : 4).[0m ×2 + 62.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841415 ms (missed cycles : 2). + 62.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841415 ms (missed cycles : 2).[0m ×2 + 63.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070449 ms (missed cycles : 5). + 63.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070449 ms (missed cycles : 5).[0m ×2 + 64.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875794 ms (missed cycles : 2). + 64.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875794 ms (missed cycles : 2).[0m ×2 + 65.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.398612 ms (missed cycles : 4). + 65.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.398612 ms (missed cycles : 4).[0m ×2 + 66.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412590 ms (missed cycles : 4). + 66.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412590 ms (missed cycles : 4).[0m ×2 + 67.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914716 ms (missed cycles : 2). + 67.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914716 ms (missed cycles : 2).[0m ×2 + 68.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140726 ms (missed cycles : 5). + 68.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140726 ms (missed cycles : 5).[0m ×2 + 69.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913766 ms (missed cycles : 3). + 69.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913766 ms (missed cycles : 3).[0m ×2 + 70.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.201133 ms (missed cycles : 7). + 70.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.201133 ms (missed cycles : 7).[0m ×2 + 71.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2). + 71.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2).[0m ×2 + 72.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5). + 72.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5).[0m ×2 + 73.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5). + 73.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5).[0m ×2 + 74.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782483421.61072755 seconds ×3 + 74.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2). + 74.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2).[0m ×2 + 74.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782483422.17042780 seconds. ×3 + 75.34sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 75.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6). + 75.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6).[0m ×2 + 76.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6). + 76.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.8s | 186 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653233 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653233 ms (missed cycles : 2).[0m ×2 + 0.06sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.06sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782483188.09335446 seconds ×3 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782483188.64739799 seconds. ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246295 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246295 ms (missed cycles : 7).[0m ×2 + 1.60sINFOobjective_server_nodeFound path in 0 iterations (2.866e-05 s). ×2 + 1.60sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.63sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.63sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.63sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.63sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820089 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820089 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455667 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455667 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782483191.71756077 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248833 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248833 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782483192.27175713 seconds. ×3 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932355 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932355 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694494 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694494 ms (missed cycles : 3).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724254 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724254 ms (missed cycles : 3).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519996 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519996 ms (missed cycles : 3).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364776 ms (missed cycles : 4). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364776 ms (missed cycles : 4).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878953 ms (missed cycles : 3). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878953 ms (missed cycles : 3).[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937795 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937795 ms (missed cycles : 2).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520965 ms (missed cycles : 3). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520965 ms (missed cycles : 3).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030406 ms (missed cycles : 5). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030406 ms (missed cycles : 5).[0m ×2 + 14.75sINFOros2_control_nodeMuJoCo sim: 0.43% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944017 ms (missed cycles : 2). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944017 ms (missed cycles : 2).[0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233506 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233506 ms (missed cycles : 2).[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929667 ms (missed cycles : 3). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929667 ms (missed cycles : 3).[0m ×2 + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621302 ms (missed cycles : 4). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621302 ms (missed cycles : 4).[0m ×2 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937693 ms (missed cycles : 2). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937693 ms (missed cycles : 2).[0m ×2 + 20.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307094 ms (missed cycles : 5). + 20.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307094 ms (missed cycles : 5).[0m ×2 + 21.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025592 ms (missed cycles : 4). + 21.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025592 ms (missed cycles : 4).[0m ×2 + 22.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405357 ms (missed cycles : 4). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405357 ms (missed cycles : 4).[0m ×2 + 23.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757242 ms (missed cycles : 3). + 23.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757242 ms (missed cycles : 3).[0m ×2 + 24.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113870 ms (missed cycles : 5). + 24.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113870 ms (missed cycles : 5).[0m ×2 + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899729 ms (missed cycles : 3). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899729 ms (missed cycles : 3).[0m ×2 + 26.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294198 ms (missed cycles : 2). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294198 ms (missed cycles : 2).[0m ×2 + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682877 ms (missed cycles : 3). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682877 ms (missed cycles : 3).[0m ×2 + 28.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673778 ms (missed cycles : 6). + 28.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673778 ms (missed cycles : 6).[0m ×2 + 29.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.159663 ms (missed cycles : 6). + 29.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.159663 ms (missed cycles : 6).[0m ×2 + 30.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442796 ms (missed cycles : 4). + 30.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442796 ms (missed cycles : 4).[0m ×2 + 31.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736258 ms (missed cycles : 6). + 31.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736258 ms (missed cycles : 6).[0m ×2 + 32.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363061 ms (missed cycles : 3). + 32.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363061 ms (missed cycles : 3).[0m ×2 + 33.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855742 ms (missed cycles : 6). + 33.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855742 ms (missed cycles : 6).[0m ×2 + 34.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542396 ms (missed cycles : 3). + 34.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542396 ms (missed cycles : 3).[0m ×2 + 34.95sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 34.95sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930755 ms (missed cycles : 3). + 35.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930755 ms (missed cycles : 3).[0m ×2 + 36.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988667 ms (missed cycles : 3). + 36.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988667 ms (missed cycles : 3).[0m ×2 + 37.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001671 ms (missed cycles : 2). + 37.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001671 ms (missed cycles : 2).[0m ×2 + 39.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908442 ms (missed cycles : 3). + 39.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908442 ms (missed cycles : 3).[0m ×2 + 40.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828701 ms (missed cycles : 2). + 40.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828701 ms (missed cycles : 2).[0m ×2 + 41.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417289 ms (missed cycles : 4). + 41.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417289 ms (missed cycles : 4).[0m ×2 + 42.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851933 ms (missed cycles : 2). + 42.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851933 ms (missed cycles : 2).[0m ×2 + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322185 ms (missed cycles : 2). + 43.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322185 ms (missed cycles : 2).[0m ×2 + 44.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083028 ms (missed cycles : 3). + 44.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083028 ms (missed cycles : 3).[0m ×2 + 45.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392858 ms (missed cycles : 3). + 45.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392858 ms (missed cycles : 3).[0m ×2 + 46.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524411 ms (missed cycles : 2). + 46.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524411 ms (missed cycles : 2).[0m ×2 + 47.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.589295 ms (missed cycles : 7). + 47.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.589295 ms (missed cycles : 7).[0m ×2 + 48.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112494 ms (missed cycles : 2). + 48.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112494 ms (missed cycles : 2).[0m ×2 + 49.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542532 ms (missed cycles : 3). + 49.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542532 ms (missed cycles : 3).[0m ×2 + 50.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014761 ms (missed cycles : 2). + 50.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014761 ms (missed cycles : 2).[0m ×2 + 51.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749926 ms (missed cycles : 4). + 51.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749926 ms (missed cycles : 4).[0m ×2 + 52.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702664 ms (missed cycles : 3). + 52.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702664 ms (missed cycles : 3).[0m ×2 + 53.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697426 ms (missed cycles : 2). + 53.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697426 ms (missed cycles : 2).[0m ×2 + 54.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549112 ms (missed cycles : 4). + 54.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549112 ms (missed cycles : 4).[0m ×2 + 55.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673688 ms (missed cycles : 6). + 55.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673688 ms (missed cycles : 6).[0m ×2 + 56.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486477 ms (missed cycles : 4). + 56.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486477 ms (missed cycles : 4).[0m ×2 + 57.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357351 ms (missed cycles : 4). + 57.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357351 ms (missed cycles : 4).[0m ×2 + 58.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664659 ms (missed cycles : 6). + 58.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664659 ms (missed cycles : 6).[0m ×2 + 59.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763962 ms (missed cycles : 2). + 59.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763962 ms (missed cycles : 2).[0m ×2 + 60.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782483248.54462528 seconds ×3 + 60.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016923 ms (missed cycles : 5). + 60.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016923 ms (missed cycles : 5).[0m ×2 + 61.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782483249.12148190 seconds. ×3 + 61.48sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 61.50sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474890 ms (missed cycles : 2). + 62.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474890 ms (missed cycles : 2).[0m ×2 + 63.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521687 ms (missed cycles : 3). + 63.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521687 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.4s | 183 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.201133 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.201133 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5).[0m ×2 + 3.64sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.64sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782483421.61072755 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782483422.17042780 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6).[0m ×2 + 6.08sINFOobjective_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841855 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841855 ms (missed cycles : 2).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.950039 ms (missed cycles : 6). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.950039 ms (missed cycles : 6).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905220 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905220 ms (missed cycles : 2).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063917 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063917 ms (missed cycles : 2).[0m ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.505621 ms (missed cycles : 7). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.505621 ms (missed cycles : 7).[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773873 ms (missed cycles : 3). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773873 ms (missed cycles : 3).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705283 ms (missed cycles : 3). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705283 ms (missed cycles : 3).[0m ×2 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986315 ms (missed cycles : 2). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986315 ms (missed cycles : 2).[0m ×2 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712991 ms (missed cycles : 3). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712991 ms (missed cycles : 3).[0m ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.915987 ms (missed cycles : 6). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.915987 ms (missed cycles : 6).[0m ×2 + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784909 ms (missed cycles : 3). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784909 ms (missed cycles : 3).[0m ×2 + 18.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461336 ms (missed cycles : 3). + 18.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461336 ms (missed cycles : 3).[0m ×2 + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676486 ms (missed cycles : 3). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676486 ms (missed cycles : 3).[0m ×2 + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620094 ms (missed cycles : 2). + 20.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620094 ms (missed cycles : 2).[0m ×2 + 21.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.572500 ms (missed cycles : 6). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.572500 ms (missed cycles : 6).[0m ×2 + 22.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326192 ms (missed cycles : 4). + 22.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326192 ms (missed cycles : 4).[0m ×2 + 24.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845037 ms (missed cycles : 2). + 24.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845037 ms (missed cycles : 2).[0m ×2 + 24.82sINFOros2_control_nodeMuJoCo sim: 1.10% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 25.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544210 ms (missed cycles : 4). + 25.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544210 ms (missed cycles : 4).[0m ×2 + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433752 ms (missed cycles : 2). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433752 ms (missed cycles : 2).[0m ×2 + 27.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104436 ms (missed cycles : 2). + 27.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104436 ms (missed cycles : 2).[0m ×2 + 28.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716993 ms (missed cycles : 2). + 28.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716993 ms (missed cycles : 2).[0m ×2 + 29.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027853 ms (missed cycles : 2). + 29.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027853 ms (missed cycles : 2).[0m ×2 + 30.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898938 ms (missed cycles : 2). + 30.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898938 ms (missed cycles : 2).[0m ×2 + 31.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.571778 ms (missed cycles : 7). + 31.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.571778 ms (missed cycles : 7).[0m ×2 + 32.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972745 ms (missed cycles : 3). + 32.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972745 ms (missed cycles : 3).[0m ×2 + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859011 ms (missed cycles : 2). + 33.38sWARNobjective_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 + 33.38sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859011 ms (missed cycles : 2).[0m ×2 + 34.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625680 ms (missed cycles : 3). + 34.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625680 ms (missed cycles : 3).[0m ×2 + 35.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631175 ms (missed cycles : 4). + 35.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631175 ms (missed cycles : 4).[0m ×2 + 36.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240599 ms (missed cycles : 5). + 36.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240599 ms (missed cycles : 5).[0m ×2 + 37.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.424820 ms (missed cycles : 7). + 37.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.424820 ms (missed cycles : 7).[0m ×2 + 38.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166343 ms (missed cycles : 3). + 38.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166343 ms (missed cycles : 3).[0m ×2 + 39.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261615 ms (missed cycles : 3). + 39.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261615 ms (missed cycles : 3).[0m ×2 + 40.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644888 ms (missed cycles : 3). + 40.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644888 ms (missed cycles : 3).[0m ×2 + 41.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167557 ms (missed cycles : 5). + 41.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167557 ms (missed cycles : 5).[0m ×2 + 42.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.837605 ms (missed cycles : 6). + 42.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.837605 ms (missed cycles : 6).[0m ×2 + 43.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097046 ms (missed cycles : 2). + 43.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097046 ms (missed cycles : 2).[0m ×2 + 44.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.296011 ms (missed cycles : 5). + 44.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.296011 ms (missed cycles : 5).[0m ×2 + 45.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931413 ms (missed cycles : 3). + 45.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931413 ms (missed cycles : 3).[0m ×2 + 46.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849691 ms (missed cycles : 3). + 46.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849691 ms (missed cycles : 3).[0m ×2 + 47.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875799 ms (missed cycles : 5). + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875799 ms (missed cycles : 5).[0m ×2 + 49.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965623 ms (missed cycles : 3). + 49.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965623 ms (missed cycles : 3).[0m ×2 + 50.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571853 ms (missed cycles : 2). + 50.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571853 ms (missed cycles : 2).[0m ×2 + 51.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498235 ms (missed cycles : 3). + 51.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498235 ms (missed cycles : 3).[0m ×2 + 52.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476146 ms (missed cycles : 4). + 52.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476146 ms (missed cycles : 4).[0m ×2 + 53.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523441 ms (missed cycles : 3). + 53.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523441 ms (missed cycles : 3).[0m ×2 + 54.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734106 ms (missed cycles : 2). + 54.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734106 ms (missed cycles : 2).[0m ×2 + 55.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357780 ms (missed cycles : 2). + 55.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357780 ms (missed cycles : 2).[0m ×2 + 56.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193701 ms (missed cycles : 4). + 56.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193701 ms (missed cycles : 4).[0m ×2 + 57.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667300 ms (missed cycles : 4). + 57.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667300 ms (missed cycles : 4).[0m ×2 + 58.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299737 ms (missed cycles : 5). + 58.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299737 ms (missed cycles : 5).[0m ×2 + 59.14sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782483477.06059790 seconds ×3 + 59.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739077 ms (missed cycles : 3). + 59.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739077 ms (missed cycles : 3).[0m ×2 + 59.70sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782483477.62342620 seconds. ×3 + 60.05sINFOobjective_server_nodeFound path in 0 iterations (1.001e-06 s). ×2 + 60.07sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480706 ms (missed cycles : 5). + 60.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480706 ms (missed cycles : 5).[0m ×2 + 61.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.421463 ms (missed cycles : 6). + 61.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.421463 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.6s | 180 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239530 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239530 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210439 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210439 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004305 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004305 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898543 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898543 ms (missed cycles : 3).[0m ×2 + 3.65sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.65sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.70sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782483285.07071304 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898819 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898819 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782483285.63017273 seconds. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953506 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953506 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.91sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.91sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.91sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724752 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724752 ms (missed cycles : 2).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556637 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556637 ms (missed cycles : 3).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815971 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815971 ms (missed cycles : 2).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986475 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986475 ms (missed cycles : 2).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.250582 ms (missed cycles : 6). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.250582 ms (missed cycles : 6).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271961 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271961 ms (missed cycles : 2).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768994 ms (missed cycles : 2). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768994 ms (missed cycles : 2).[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517322 ms (missed cycles : 7). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.517322 ms (missed cycles : 7).[0m ×2 + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342593 ms (missed cycles : 2). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342593 ms (missed cycles : 2).[0m ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.779244 ms (missed cycles : 6). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.779244 ms (missed cycles : 6).[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724031 ms (missed cycles : 4). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724031 ms (missed cycles : 4).[0m ×2 + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091483 ms (missed cycles : 5). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091483 ms (missed cycles : 5).[0m ×2 + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802619 ms (missed cycles : 3). + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802619 ms (missed cycles : 3).[0m ×2 + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159940 ms (missed cycles : 5). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159940 ms (missed cycles : 5).[0m ×2 + 20.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200200 ms (missed cycles : 2). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200200 ms (missed cycles : 2).[0m ×2 + 22.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352849 ms (missed cycles : 5). + 22.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352849 ms (missed cycles : 5).[0m ×2 + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740310 ms (missed cycles : 2). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740310 ms (missed cycles : 2).[0m ×2 + 24.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963884 ms (missed cycles : 5). + 24.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963884 ms (missed cycles : 5).[0m ×2 + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.973234 ms (missed cycles : 8). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.973234 ms (missed cycles : 8).[0m ×2 + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.387416 ms (missed cycles : 7). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.387416 ms (missed cycles : 7).[0m ×2 + 27.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.989739 ms (missed cycles : 8). + 27.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.989739 ms (missed cycles : 8).[0m ×2 + 28.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.296700 ms (missed cycles : 5). + 28.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.296700 ms (missed cycles : 5).[0m ×2 + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616040 ms (missed cycles : 3). + 29.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616040 ms (missed cycles : 3).[0m ×2 + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720624 ms (missed cycles : 6). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720624 ms (missed cycles : 6).[0m ×2 + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.182256 ms (missed cycles : 8). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.182256 ms (missed cycles : 8).[0m ×2 + 32.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688283 ms (missed cycles : 2). + 32.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688283 ms (missed cycles : 2).[0m ×2 + 33.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167879 ms (missed cycles : 2). + 33.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167879 ms (missed cycles : 2).[0m ×2 + 33.67sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 34.34sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 34.34sINFOobjective_server_nodePlanning for 58 path waypoints. ×3 + 34.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390661 ms (missed cycles : 4). + 34.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390661 ms (missed cycles : 4).[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889611 ms (missed cycles : 3). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889611 ms (missed cycles : 3).[0m ×2 + 36.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224335 ms (missed cycles : 2). + 36.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224335 ms (missed cycles : 2).[0m ×2 + 37.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786847 ms (missed cycles : 2). + 37.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786847 ms (missed cycles : 2).[0m ×2 + 38.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782935 ms (missed cycles : 3). + 38.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782935 ms (missed cycles : 3).[0m ×2 + 39.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.099772 ms (missed cycles : 5). + 39.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.099772 ms (missed cycles : 5).[0m ×2 + 40.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835195 ms (missed cycles : 6). + 40.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835195 ms (missed cycles : 6).[0m ×2 + 41.37sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133474 ms (missed cycles : 2). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133474 ms (missed cycles : 2).[0m ×2 + 42.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369906 ms (missed cycles : 4). + 42.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369906 ms (missed cycles : 4).[0m ×2 + 43.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640126 ms (missed cycles : 2). + 43.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640126 ms (missed cycles : 2).[0m ×2 + 45.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129438 ms (missed cycles : 5). + 45.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129438 ms (missed cycles : 5).[0m ×2 + 46.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872545 ms (missed cycles : 6). + 46.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872545 ms (missed cycles : 6).[0m ×2 + 47.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597790 ms (missed cycles : 4). + 47.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597790 ms (missed cycles : 4).[0m ×2 + 48.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.745397 ms (missed cycles : 9). + 48.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.745397 ms (missed cycles : 9).[0m ×2 + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310545 ms (missed cycles : 4). + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310545 ms (missed cycles : 4).[0m ×2 + 50.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223146 ms (missed cycles : 2). + 50.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223146 ms (missed cycles : 2).[0m ×2 + 51.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096007 ms (missed cycles : 4). + 51.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096007 ms (missed cycles : 4).[0m ×2 + 52.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100598 ms (missed cycles : 2). + 52.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100598 ms (missed cycles : 2).[0m ×2 + 53.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368277 ms (missed cycles : 2). + 53.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368277 ms (missed cycles : 2).[0m ×2 + 54.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150537 ms (missed cycles : 2). + 54.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150537 ms (missed cycles : 2).[0m ×2 + 55.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079665 ms (missed cycles : 2). + 55.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079665 ms (missed cycles : 2).[0m ×2 + 56.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674046 ms (missed cycles : 2). + 56.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674046 ms (missed cycles : 2).[0m ×2 + 57.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139920 ms (missed cycles : 3). + 57.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139920 ms (missed cycles : 3).[0m ×2 + 58.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782483339.72033930 seconds ×3 + 58.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738954 ms (missed cycles : 2). + 58.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738954 ms (missed cycles : 2).[0m ×2 + 58.91sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782483340.27763391 seconds. ×3 + 59.28sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 59.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416288 ms (missed cycles : 4). + 59.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416288 ms (missed cycles : 4).[0m ×2 + 60.56sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 60.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067146 ms (missed cycles : 5). + 60.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067146 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.7s | 6 errors · 144 warnings · 146 info |
+ 0.00sINFOros2-10process has finished cleanly [pid 10269] ×2 + 0.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 0.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.42sINFOmove_groupClearing octomap...[0m ×2 + 0.42sINFOmove_groupOctomap cleared.[0m ×2 + 0.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 0.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 1.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 1.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 2.17sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 2.31sINFOobjective_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 + 2.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 3.71sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 3.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 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 ] + 4.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959805 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959805 ms (missed cycles : 5).[0m ×2 + 5.43sWARNobjective_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 + 5.88sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.88sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734521 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734521 ms (missed cycles : 3).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659127 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659127 ms (missed cycles : 3).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525451 ms (missed cycles : 3). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525451 ms (missed cycles : 3).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670929 ms (missed cycles : 3). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670929 ms (missed cycles : 3).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138703 ms (missed cycles : 2). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138703 ms (missed cycles : 2).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632213 ms (missed cycles : 6). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632213 ms (missed cycles : 6).[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318687 ms (missed cycles : 2). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318687 ms (missed cycles : 2).[0m ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692095 ms (missed cycles : 4). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692095 ms (missed cycles : 4).[0m ×2 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.264129 ms (missed cycles : 7). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.264129 ms (missed cycles : 7).[0m ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618483 ms (missed cycles : 2). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618483 ms (missed cycles : 2).[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.612625 ms (missed cycles : 6). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.612625 ms (missed cycles : 6).[0m ×2 + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737499 ms (missed cycles : 3). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737499 ms (missed cycles : 3).[0m ×2 + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084929 ms (missed cycles : 3). + 18.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084929 ms (missed cycles : 3).[0m ×2 + 19.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544320 ms (missed cycles : 4). + 19.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544320 ms (missed cycles : 4).[0m ×2 + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881870 ms (missed cycles : 2). + 20.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881870 ms (missed cycles : 2).[0m ×2 + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266309 ms (missed cycles : 2). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266309 ms (missed cycles : 2).[0m ×2 + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244700 ms (missed cycles : 4). + 22.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244700 ms (missed cycles : 4).[0m ×2 + 24.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773323 ms (missed cycles : 2). + 24.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773323 ms (missed cycles : 2).[0m ×2 + 25.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657061 ms (missed cycles : 3). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657061 ms (missed cycles : 3).[0m ×2 + 26.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.006467 ms (missed cycles : 5). + 26.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.006467 ms (missed cycles : 5).[0m ×2 + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708163 ms (missed cycles : 3). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708163 ms (missed cycles : 3).[0m ×2 + 28.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642389 ms (missed cycles : 3). + 28.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642389 ms (missed cycles : 3).[0m ×2 + 29.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666472 ms (missed cycles : 3). + 29.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666472 ms (missed cycles : 3).[0m ×2 + 30.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751544 ms (missed cycles : 2). + 30.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751544 ms (missed cycles : 2).[0m ×2 + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.354683 ms (missed cycles : 6). + 31.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.354683 ms (missed cycles : 6).[0m ×2 + 32.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706805 ms (missed cycles : 2). + 32.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706805 ms (missed cycles : 2).[0m ×2 + 33.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539822 ms (missed cycles : 3). + 33.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539822 ms (missed cycles : 3).[0m ×2 + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.149614 ms (missed cycles : 5). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.149614 ms (missed cycles : 5).[0m ×2 + 35.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700903 ms (missed cycles : 2). + 35.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700903 ms (missed cycles : 2).[0m ×2 + 36.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673380 ms (missed cycles : 3). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673380 ms (missed cycles : 3).[0m ×2 + 37.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545108 ms (missed cycles : 5). + 37.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545108 ms (missed cycles : 5).[0m ×2 + 38.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113692 ms (missed cycles : 5). + 38.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113692 ms (missed cycles : 5).[0m ×2 + 39.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.143849 ms (missed cycles : 6). + 39.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.143849 ms (missed cycles : 6).[0m ×2 + 41.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830948 ms (missed cycles : 2). + 41.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830948 ms (missed cycles : 2).[0m ×2 + 42.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419866 ms (missed cycles : 4). + 42.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419866 ms (missed cycles : 4).[0m ×2 + 43.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193323 ms (missed cycles : 2). + 43.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193323 ms (missed cycles : 2).[0m ×2 + 44.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908460 ms (missed cycles : 3). + 44.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908460 ms (missed cycles : 3).[0m ×2 + 45.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.320487 ms (missed cycles : 4). + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.320487 ms (missed cycles : 4).[0m ×2 + 46.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772846 ms (missed cycles : 2). + 46.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772846 ms (missed cycles : 2).[0m ×2 + 47.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653233 ms (missed cycles : 2). + 47.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653233 ms (missed cycles : 2).[0m ×2 + 47.49sINFOjoint_trajectory_controllerGoal reached, success! + 47.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782483188.09335446 seconds ×3 + 48.09sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782483188.64739799 seconds. ×3 + 48.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246295 ms (missed cycles : 7). + 48.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246295 ms (missed cycles : 7).[0m ×2 + 49.02sINFOobjective_server_nodeFound path in 0 iterations (2.866e-05 s). ×2 + 49.02sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820089 ms (missed cycles : 3). + 49.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820089 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.9s | 108 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521687 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521687 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782887 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782887 ms (missed cycles : 3).[0m ×2 + 2.07sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.07sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.11sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782483253.20171070 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123487 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123487 ms (missed cycles : 2).[0m ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169094 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169094 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782483254.76056433 seconds. ×3 + 3.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123258 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123258 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001053 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001053 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995000 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995000 ms (missed cycles : 2).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163507 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163507 ms (missed cycles : 3).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717934 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717934 ms (missed cycles : 3).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799497 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799497 ms (missed cycles : 2).[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404270 ms (missed cycles : 3). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404270 ms (missed cycles : 3).[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107013 ms (missed cycles : 5). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107013 ms (missed cycles : 5).[0m ×2 + 11.64sINFOros2_control_nodeMuJoCo sim: 0.76% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.484849 ms (missed cycles : 7). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.484849 ms (missed cycles : 7).[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.094112 ms (missed cycles : 7). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.094112 ms (missed cycles : 7).[0m ×2 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973441 ms (missed cycles : 3). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973441 ms (missed cycles : 3).[0m ×2 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628133 ms (missed cycles : 3). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628133 ms (missed cycles : 3).[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264108 ms (missed cycles : 2). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264108 ms (missed cycles : 2).[0m ×2 + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668781 ms (missed cycles : 2). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668781 ms (missed cycles : 2).[0m ×2 + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944818 ms (missed cycles : 3). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944818 ms (missed cycles : 3).[0m ×2 + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.943085 ms (missed cycles : 6). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.943085 ms (missed cycles : 6).[0m ×2 + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102150 ms (missed cycles : 5). + 20.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102150 ms (missed cycles : 5).[0m ×2 + 21.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238382 ms (missed cycles : 2). + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238382 ms (missed cycles : 2).[0m ×2 + 22.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271392 ms (missed cycles : 3). + 22.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271392 ms (missed cycles : 3).[0m ×2 + 24.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113642 ms (missed cycles : 5). + 24.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113642 ms (missed cycles : 5).[0m ×2 + 25.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874314 ms (missed cycles : 5). + 25.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874314 ms (missed cycles : 5).[0m ×2 + 26.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098905 ms (missed cycles : 4). + 26.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098905 ms (missed cycles : 4).[0m ×2 + 27.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742722 ms (missed cycles : 3). + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742722 ms (missed cycles : 3).[0m ×2 + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627695 ms (missed cycles : 3). + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627695 ms (missed cycles : 3).[0m ×2 + 29.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269025 ms (missed cycles : 4). + 29.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269025 ms (missed cycles : 4).[0m ×2 + 30.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239530 ms (missed cycles : 2). + 30.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239530 ms (missed cycles : 2).[0m ×2 + 31.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210439 ms (missed cycles : 4). + 31.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210439 ms (missed cycles : 4).[0m ×2 + 32.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004305 ms (missed cycles : 2). + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004305 ms (missed cycles : 2).[0m ×2 + 33.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898543 ms (missed cycles : 3). + 33.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898543 ms (missed cycles : 3).[0m ×2 + 33.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782483285.07071304 seconds ×3 + 34.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898819 ms (missed cycles : 2). + 34.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898819 ms (missed cycles : 2).[0m ×2 + 34.54sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782483285.63017273 seconds. ×3 + 34.88sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 35.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953506 ms (missed cycles : 2). + 35.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953506 ms (missed cycles : 2).[0m ×2 + 36.15sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724752 ms (missed cycles : 2). + 36.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724752 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.9s | 57 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357780 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357780 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193701 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193701 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667300 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667300 ms (missed cycles : 4).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299737 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299737 ms (missed cycles : 5).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.78sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782483477.06059790 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739077 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739077 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782483477.62342620 seconds. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (1.001e-06 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.78sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.78sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.78sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.78sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480706 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480706 ms (missed cycles : 5).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.421463 ms (missed cycles : 6). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.421463 ms (missed cycles : 6).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.957355 ms (missed cycles : 5). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.957355 ms (missed cycles : 5).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132445 ms (missed cycles : 5). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132445 ms (missed cycles : 5).[0m ×2 + 9.00sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 9.02sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.05sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 9.08sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.12sINFOobjective_server_nodeFound path in 0 iterations (8.5e-07 s). ×2 + 9.17sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.20sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 9.35sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.40sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282509 ms (missed cycles : 4). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282509 ms (missed cycles : 4).[0m ×2 + 9.59sINFOobjective_server_nodeFound path in 29 iterations (0.0236131 s). ×2 + 9.85sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X____X] ×2 + 9.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 10.29sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.33sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215956 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215956 ms (missed cycles : 2).[0m ×2 + 10.64sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.68sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208118 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208118 ms (missed cycles : 3).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184747 ms (missed cycles : 3). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184747 ms (missed cycles : 3).[0m ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133122 ms (missed cycles : 5). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133122 ms (missed cycles : 5).[0m ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725115 ms (missed cycles : 2). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725115 ms (missed cycles : 2).[0m ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190579 ms (missed cycles : 4). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190579 ms (missed cycles : 4).[0m ×2 + 16.69sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782483489.91921282 seconds ×3 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080492 ms (missed cycles : 3). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080492 ms (missed cycles : 3).[0m ×2 + 17.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782483490.50712895 seconds. ×3 + 17.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.29sINFOmove_groupClearing octomap...[0m ×2 + 17.29sINFOmove_groupOctomap cleared.[0m ×2 + 17.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782483491.04739022 seconds ×3 + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085334 ms (missed cycles : 2). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085334 ms (missed cycles : 2).[0m ×2 + 18.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782483491.60113263 seconds. ×3 + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.623699 ms (missed cycles : 6). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.623699 ms (missed cycles : 6).[0m ×2 + 18.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782483492.18127131 seconds ×3 + 19.19sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.7s | 76 errors · 33 warnings · 379 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725115 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725115 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190579 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190579 ms (missed cycles : 4).[0m ×2 + 1.94sINFOjoint_trajectory_controllerGoal reached, success! + 1.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.98sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782483489.91921282 seconds ×3 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080492 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080492 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782483490.50712895 seconds. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.58sINFOmove_groupOctomap cleared.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782483491.04739022 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085334 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085334 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782483491.60113263 seconds. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.623699 ms (missed cycles : 6). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.623699 ms (missed cycles : 6).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782483492.18127131 seconds ×3 + 4.47sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840756 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840756 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497876 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497876 ms (missed cycles : 4).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483777 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483777 ms (missed cycles : 3).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839939 ms (missed cycles : 3). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839939 ms (missed cycles : 3).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801573 ms (missed cycles : 3). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801573 ms (missed cycles : 3).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238939 ms (missed cycles : 7). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238939 ms (missed cycles : 7).[0m ×2 + 10.56sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 10.61sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 10.64sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 10.69sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 10.71sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 10.72sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.74sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 10.76sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 10.78sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 10.80sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 10.82sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 10.84sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 10.87sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 10.88sINFOcontroller_managerShutdown request received.... + 10.88sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.88sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.88sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.88sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.88sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.88sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.88sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.88sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.88sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.88sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.88sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.88sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.88sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.88sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.88sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.88sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.88sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.88sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.88sINFOcontroller_managerShutting down the controller manager. + 10.88sINFOweb_video_server-31process has finished cleanly [pid 10349] ×2 + 10.88sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.88sINFOtf2_web_republisher_node-30process has finished cleanly [pid 10348] ×2 + 10.89sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.91sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.91sERRORmove_group-20process has died [pid 10279, 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_g3jfka6e --params-file /tmp/launch_params_rti9x_jd --params-file /tmp/launch_params_eug_6yzv --params-file /tmp/launch_params_8lxsq4fl --params-file /tmp/launch_params_wbn5vqja --params-file /tmp/launch_params_mgxfe8kz --params-file /tmp/launch_params_00q41m71 --params-file /tmp/launch_params_k22wr_x2 --params-file /tmp/launch_params_mawkg23l']. ×2 + 10.93sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.95sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.97sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.99sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.01sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.01sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.01sINFOcontroller_serverCleaning up + 11.01sINFOlocal_costmap.local_costmapCleaning up + 11.01sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.01sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.01sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.01sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.01sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.01sINFOui_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 + 11.01sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.01sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.01sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.01sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.01sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.01sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.01sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.01sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.01sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.01sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.01sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.01sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.01sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.01sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.02sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.02sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.02sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.02sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.02sERRORmove_groupStack trace (most recent call last) in thread 10849: ×2 + 11.02sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.02sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1adc9f1a63, in __clone ×2 + 11.02sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1adc964aa3, in ×2 + 11.02sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1adcbf6db3, in ×2 + 11.02sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f1add24b1c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.02sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1adcf694d0, in rclcpp::Rate::sleep() ×2 + 11.02sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1adcebca88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.02sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1adce81a71, in ×2 + 11.02sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1adcbc5390, in __cxa_throw ×2 + 11.02sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1adcbafa54, in std::terminate() ×2 + 11.02sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1adcbc50d9, in ×2 + 11.02sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1adcbafff4, in ×2 + 11.02sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1adc8f08fe, in abort ×2 + 11.02sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1adc90d27d, in raise ×2 + 11.02sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1adc966b2c, in pthread_kill ×2 + 11.02sERRORmove_groupAborted (Signal sent by tkill() 10279 0) ×2 + 11.02sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.02sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.02sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.02sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.02sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.02sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.02sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.02sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.02sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.02sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 11.03sINFOobjective_server_node[2026-06-26 14:18:18.829] [moveit_pro_license] [info] ×2 + 11.03sINFOobjective_server_node************************************************* ×4 + 11.03sINFOobjective_server_node* MoveIt Pro License ×2 + 11.03sINFOobjective_server_node* Application has successfully terminated ×2 + 11.03sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.03sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.03sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.03sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562929d8a6a4, in _start ×2 + 11.03sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f908a8e128a, in __libc_start_main ×2 + 11.03sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f908a8e11d0, in ×2 + 11.03sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f908a8febbd, in exit ×2 + 11.03sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f908a8fea75, in ×2 + 11.03sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.03sINFOodom_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 + 11.03sINFOodom_qos_relay.pymain() ×2 + 11.03sINFOodom_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 + 11.03sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.03sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.03sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.03sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.03sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.03sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.03sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.03sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.03sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.03sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.03sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.03sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.03sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.03sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.03sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f908add04a2, in spdlog::details::registry::~registry() ×2 + 11.03sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f908addb69d, 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 + 11.03sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f908add5965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.03sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562929d91315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.03sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562929d905a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.03sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562929d8cb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.03sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562929d8ad79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.03sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f908b477454, in rclcpp::Node::~Node() ×2 + 11.03sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f908b432515, in ×2 + 11.03sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f908b475d20, in ×2 + 11.03sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f908b475c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.03sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f908b4325d9, in ×2 + 11.03sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f908b437161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.03sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f9050f7e120]) ×2 + 11.04sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 11.04sERRORobjective_server_node_main-25process has died [pid 10341, 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_jy_1emdp --params-file /tmp/launch_params_5731w_nm --params-file /tmp/launch_params_knw2tfk3 --params-file /tmp/launch_params_mzb7n3q9 --params-file /tmp/launch_params_1nqy8ry1 --params-file /tmp/launch_params_u6yo2tnr --params-file /tmp/launch_params_02214k2v --params-file /tmp/launch_params_v4ayk7a7 --params-file /tmp/launch_params_crq7ojn8']. ×2 + 11.04sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.04sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.05sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.05sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.05sINFOmap_serverDeactivating + 11.05sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.06sINFOmap_serverCleaning up + 11.06sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.06sINFOsmoother_serverCleaning up + 11.07sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.07sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.07sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.08sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.08sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.08sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.08sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.08sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.08sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.08sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.08sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.08sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.08sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.08sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.09sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.09sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.09sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.57sERRORcomponent_container_isolated-1process has died [pid 10183, 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_6dy_nji3 --params-file /tmp/launch_params_3_glcypr -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.82sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 10340] ×2 + 11.82sERRORui_teleop_bridge-28process has died [pid 10346, 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_4ppcmv47']. ×2 + 11.82sINFOexecute_objective_bridge-27process has finished cleanly [pid 10343] ×2 + 11.84sINFOmove_joint_resampler_node-23process has finished cleanly [pid 10282] ×2 + 11.89sINFOparameter_manager_node-21process has finished cleanly [pid 10280] ×2 + 11.91sINFOwaypoint_manager_node-22process has finished cleanly [pid 10281] ×2 + 11.93sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 10189] ×2 + 11.95sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10188] ×2 + 11.99sINFOstatic_transform_publisher-4process has finished cleanly [pid 10186] ×2 + 12.01sINFOstatic_transform_publisher-3process has finished cleanly [pid 10185] ×2 + 12.01sINFOcomponent_container_mt-26process has finished cleanly [pid 10342] ×2 + 12.03sINFOstatic_transform_publisher-2process has finished cleanly [pid 10184] ×2 + 12.03sERRORodom_qos_relay.py-5process has died [pid 10187, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.52sINFOweb_bridge-29process has finished cleanly [pid 10347] ×2 + 13.52sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 13.70sINFOros2_control_node-8process has finished cleanly [pid 10190] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.6s | 3 errors · 48 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079665 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674046 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674046 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139920 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139920 ms (missed cycles : 3).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.99sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782483339.72033930 seconds ×3 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738954 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738954 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782483340.27763391 seconds. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416288 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416288 ms (missed cycles : 4).[0m ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.24sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.24sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.24sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.24sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067146 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067146 ms (missed cycles : 5).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.035463 ms (missed cycles : 8). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.035463 ms (missed cycles : 8).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.370517 ms (missed cycles : 4). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.370517 ms (missed cycles : 4).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717357 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717357 ms (missed cycles : 2).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859152 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859152 ms (missed cycles : 3).[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519541 ms (missed cycles : 6). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519541 ms (missed cycles : 6).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.128889 ms (missed cycles : 8). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.128889 ms (missed cycles : 8).[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931141 ms (missed cycles : 3). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931141 ms (missed cycles : 3).[0m ×2 + 13.59sINFOjoint_trajectory_controllerGot request to cancel goal + 13.59sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.59sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.59sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782483350.32262397 seconds ×3 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757132 ms (missed cycles : 3). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757132 ms (missed cycles : 3).[0m ×2 + 14.15sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782483350.88055706 seconds. ×3 + 14.53sINFOobjective_server_nodeFound path in 0 iterations (1.14e-06 s). ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679763 ms (missed cycles : 3). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679763 ms (missed cycles : 3).[0m ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159510 ms (missed cycles : 2). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159510 ms (missed cycles : 2).[0m ×2 + 15.80sINFOobjective_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 5.486477 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486477 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357351 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357351 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664659 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664659 ms (missed cycles : 6).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763962 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763962 ms (missed cycles : 2).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.78sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.80sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782483248.54462528 seconds ×3 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.83sINFOros2_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 7.016923 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016923 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782483249.12148190 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.75sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.75sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.75sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.75sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474890 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474890 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521687 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521687 ms (missed cycles : 3).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782887 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782887 ms (missed cycles : 3).[0m ×2 + 8.45sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782483253.20171070 seconds ×3 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123487 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123487 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169094 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169094 ms (missed cycles : 2).[0m ×2 + 10.01sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782483254.76056433 seconds. ×3 + 10.40sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123258 ms (missed cycles : 5). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123258 ms (missed cycles : 5).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001053 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001053 ms (missed cycles : 2).[0m ×2 + 11.87sINFOobjective_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 4.908460 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908460 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.320487 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.320487 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772846 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772846 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653233 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653233 ms (missed cycles : 2).[0m ×2 + 3.22sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.22sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782483188.09335446 seconds ×3 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.82sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782483188.64739799 seconds. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246295 ms (missed cycles : 7). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246295 ms (missed cycles : 7).[0m ×2 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (2.866e-05 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.79sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.79sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.79sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820089 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820089 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455667 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455667 ms (missed cycles : 3).[0m ×2 + 6.89sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782483191.71756077 seconds ×3 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248833 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248833 ms (missed cycles : 3).[0m ×2 + 7.44sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782483192.27175713 seconds. ×3 + 7.78sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932355 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932355 ms (missed cycles : 2).[0m ×2 + 9.34sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694494 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694494 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 24 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133122 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133122 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725115 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725115 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190579 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190579 ms (missed cycles : 4).[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782483489.91921282 seconds ×3 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080492 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080492 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782483490.50712895 seconds. ×3 + 3.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.58sINFOmove_groupClearing octomap...[0m ×2 + 3.58sINFOmove_groupOctomap cleared.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782483491.04739022 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085334 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085334 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782483491.60113263 seconds. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.623699 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.623699 ms (missed cycles : 6).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782483492.18127131 seconds ×3 + 5.48sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840756 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840756 ms (missed cycles : 2).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497876 ms (missed cycles : 4). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497876 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486477 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486477 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357351 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357351 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664659 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664659 ms (missed cycles : 6).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763962 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763962 ms (missed cycles : 2).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! + 3.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.80sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782483248.54462528 seconds ×3 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016923 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016923 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782483249.12148190 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.75sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474890 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474890 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521687 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521687 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 3.239530 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239530 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210439 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210439 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004305 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004305 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898543 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898543 ms (missed cycles : 3).[0m ×2 + 3.65sINFOjoint_trajectory_controllerGoal reached, success! + 3.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782483285.07071304 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898819 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898819 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782483285.63017273 seconds. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953506 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953506 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724752 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724752 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239530 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239530 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210439 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210439 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004305 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004305 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898543 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898543 ms (missed cycles : 3).[0m ×2 + 3.65sINFOjoint_trajectory_controllerGoal reached, success! + 3.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782483285.07071304 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898819 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898819 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782483285.63017273 seconds. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953506 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953506 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724752 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724752 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 3.239530 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239530 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210439 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210439 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004305 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004305 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898543 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898543 ms (missed cycles : 3).[0m ×2 + 3.65sINFOjoint_trajectory_controllerGoal reached, success! + 3.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782483285.07071304 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898819 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898819 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782483285.63017273 seconds. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953506 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953506 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724752 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724752 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.201133 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.201133 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5).[0m ×2 + 3.64sINFOjoint_trajectory_controllerGoal reached, success! + 3.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782483421.61072755 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782483422.17042780 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6).[0m ×2 + 6.08sINFOobjective_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 2 errors · 27 warnings · 247 info |
+ 0.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.00sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.00sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.00sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.00sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355309 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355309 ms (missed cycles : 2).[0m ×2 + 0.39sINFOros2-11process has finished cleanly [pid 10270] ×2 + 0.40sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.40sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×6 + 0.65sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.65sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.65sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.66sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.66sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.66sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.69sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.69sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.70sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.70sINFOforce_torque_sensor_broadcasterconfigure successful + 0.70sINFOros2_control_nodeconfigure successful[0m ×2 + 0.70sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.71sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.71sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.71sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2-9process has finished cleanly [pid 10268] ×2 + 1.06sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.32sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.32sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.32sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.32sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.40sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.40sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.40sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.40sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.40sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.40sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.41sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.41sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.79sINFOros2-15process has finished cleanly [pid 10274] ×2 + 1.82sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.07sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.07sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 2.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 2.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 2.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.12sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.48sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 2.48sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.85sINFOros2-18process has finished cleanly [pid 10277] ×2 + 2.85sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.85sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.85sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.85sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.85sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 2.85sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 2.92sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 2.92sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 2.93sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.93sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.94sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.94sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 2.94sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.28sINFOros2-10process has finished cleanly [pid 10269] ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.70sINFOmove_groupClearing octomap...[0m ×2 + 3.70sINFOmove_groupOctomap cleared.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 5.44sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 5.59sINFOobjective_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 + 5.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 6.99sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] + 6.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds | ||||
| − 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 10.201133 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.201133 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5).[0m ×2 + 3.64sINFOjoint_trajectory_controllerGoal reached, success! + 3.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782483421.61072755 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782483422.17042780 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6).[0m ×2 + 6.08sINFOobjective_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6).[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 10.201133 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.201133 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5).[0m ×2 + 3.64sINFOjoint_trajectory_controllerGoal reached, success! + 3.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782483421.61072755 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782483422.17042780 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6).[0m ×2 + 6.08sINFOobjective_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908460 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908460 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.320487 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.320487 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772846 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772846 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653233 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653233 ms (missed cycles : 2).[0m ×2 + 3.22sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782483188.09335446 seconds ×3 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782483188.64739799 seconds. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246295 ms (missed cycles : 7). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246295 ms (missed cycles : 7).[0m ×2 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (2.866e-05 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOjoint_trajectory_controllerReceived new action goal + 4.79sINFOjoint_trajectory_controllerAccepted new action goal + 4.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820089 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820089 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908460 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908460 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.320487 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.320487 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772846 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772846 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653233 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653233 ms (missed cycles : 2).[0m ×2 + 3.22sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782483188.09335446 seconds ×3 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782483188.64739799 seconds. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246295 ms (missed cycles : 7). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246295 ms (missed cycles : 7).[0m ×2 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (2.866e-05 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOjoint_trajectory_controllerReceived new action goal + 4.79sINFOjoint_trajectory_controllerAccepted new action goal + 4.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820089 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820089 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 27 warnings · 247 info |
+ 0.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.00sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.00sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.00sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.00sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355309 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355309 ms (missed cycles : 2).[0m ×2 + 0.39sINFOros2-11process has finished cleanly [pid 10270] ×2 + 0.40sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.40sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×6 + 0.65sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.65sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.65sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.66sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.66sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.66sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.69sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.69sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.70sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.70sINFOforce_torque_sensor_broadcasterconfigure successful + 0.70sINFOros2_control_nodeconfigure successful[0m ×2 + 0.70sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.71sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.71sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.71sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2-9process has finished cleanly [pid 10268] ×2 + 1.06sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.32sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.32sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.32sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.32sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.40sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.40sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.40sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.40sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.40sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.40sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.41sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.41sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.79sINFOros2-15process has finished cleanly [pid 10274] ×2 + 1.82sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.07sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.07sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 2.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 2.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 2.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.12sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.48sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 2.48sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.85sINFOros2-18process has finished cleanly [pid 10277] ×2 + 2.85sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.85sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.85sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.85sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.85sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 2.85sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 2.92sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 2.92sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 2.93sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.93sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.94sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.94sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 2.94sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.28sINFOros2-10process has finished cleanly [pid 10269] ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.70sINFOmove_groupClearing octomap...[0m ×2 + 3.70sINFOmove_groupOctomap cleared.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 5.44sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 5.59sINFOobjective_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 + 5.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653233 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653233 ms (missed cycles : 2).[0m ×2 + 0.06sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.06sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782483188.09335446 seconds ×3 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782483188.64739799 seconds. ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246295 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246295 ms (missed cycles : 7).[0m ×2 + 1.60sINFOobjective_server_nodeFound path in 0 iterations (2.866e-05 s). ×2 + 1.60sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.63sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.63sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.63sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820089 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820089 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455667 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455667 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782483191.71756077 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248833 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248833 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782483192.27175713 seconds. ×3 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932355 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932355 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694494 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694494 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 5.486477 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486477 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357351 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357351 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664659 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664659 ms (missed cycles : 6).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763962 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763962 ms (missed cycles : 2).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! + 3.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.80sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782483248.54462528 seconds ×3 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016923 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016923 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782483249.12148190 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.75sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474890 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474890 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521687 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521687 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 5.486477 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486477 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357351 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357351 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664659 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664659 ms (missed cycles : 6).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763962 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763962 ms (missed cycles : 2).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! + 3.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.80sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782483248.54462528 seconds ×3 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016923 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016923 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782483249.12148190 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.75sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474890 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474890 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521687 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521687 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486477 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486477 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357351 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357351 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664659 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664659 ms (missed cycles : 6).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763962 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763962 ms (missed cycles : 2).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! + 3.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.80sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782483248.54462528 seconds ×3 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016923 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016923 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782483249.12148190 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.75sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474890 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474890 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521687 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521687 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 5.486477 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486477 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357351 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357351 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664659 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664659 ms (missed cycles : 6).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763962 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763962 ms (missed cycles : 2).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! + 3.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.80sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782483248.54462528 seconds ×3 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016923 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016923 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782483249.12148190 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.75sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474890 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474890 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521687 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521687 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 27 warnings · 247 info |
+ 0.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.00sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.00sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.00sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.00sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355309 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355309 ms (missed cycles : 2).[0m ×2 + 0.39sINFOros2-11process has finished cleanly [pid 10270] ×2 + 0.40sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.40sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×6 + 0.65sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.65sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.65sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.66sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.66sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.66sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.69sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.69sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.70sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.70sINFOforce_torque_sensor_broadcasterconfigure successful + 0.70sINFOros2_control_nodeconfigure successful[0m ×2 + 0.70sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.71sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.71sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.71sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2-9process has finished cleanly [pid 10268] ×2 + 1.06sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.32sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.32sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.32sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.32sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.40sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.40sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.40sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.40sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.40sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.40sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.41sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.41sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.79sINFOros2-15process has finished cleanly [pid 10274] ×2 + 1.82sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.07sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.07sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 2.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 2.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 2.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.12sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.48sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 2.48sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.85sINFOros2-18process has finished cleanly [pid 10277] ×2 + 2.85sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.85sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.85sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.85sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.85sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 2.85sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 2.92sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 2.92sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 2.93sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.93sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.94sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.94sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 2.94sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.28sINFOros2-10process has finished cleanly [pid 10269] ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.70sINFOmove_groupClearing octomap...[0m ×2 + 3.70sINFOmove_groupOctomap cleared.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 5.44sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 5.59sINFOobjective_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 + 5.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[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 10.201133 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.201133 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5).[0m ×2 + 3.64sINFOjoint_trajectory_controllerGoal reached, success! + 3.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782483421.61072755 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782483422.17042780 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6).[0m ×2 + 6.08sINFOobjective_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6).[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 10.201133 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.201133 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5).[0m ×2 + 3.64sINFOjoint_trajectory_controllerGoal reached, success! + 3.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782483421.61072755 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782483422.17042780 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6).[0m ×2 + 6.08sINFOobjective_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6).[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 10.201133 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.201133 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5).[0m ×2 + 3.64sINFOjoint_trajectory_controllerGoal reached, success! + 3.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782483421.61072755 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782483422.17042780 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6).[0m ×2 + 6.08sINFOobjective_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6).[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 10.201133 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.201133 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5).[0m ×2 + 3.64sINFOjoint_trajectory_controllerGoal reached, success! + 3.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782483421.61072755 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782483422.17042780 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6).[0m ×2 + 6.08sINFOobjective_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6).[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 10.201133 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.201133 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763945 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677065 ms (missed cycles : 5).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384125 ms (missed cycles : 5).[0m ×2 + 3.64sINFOjoint_trajectory_controllerGoal reached, success! + 3.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782483421.61072755 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792549 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782483422.17042780 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661032 ms (missed cycles : 6).[0m ×2 + 6.08sINFOobjective_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008688 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133122 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133122 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725115 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725115 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190579 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190579 ms (missed cycles : 4).[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782483489.91921282 seconds ×3 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080492 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080492 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782483490.50712895 seconds. ×3 + 3.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.58sINFOmove_groupClearing octomap...[0m ×2 + 3.58sINFOmove_groupOctomap cleared.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782483491.04739022 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085334 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085334 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782483491.60113263 seconds. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.623699 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.623699 ms (missed cycles : 6).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782483492.18127131 seconds ×3 + 5.48sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 27.3s | 61 errors · 747 warnings · 1768 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-26-14-05-23-326704-8830ef5e8d27-9098 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 13.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 13.21sINFOros2_control_node-8process started with pid [9154] + 13.21sINFOmove_group-20process started with pid [9243] + 13.21sINFOparameter_manager_node-21process started with pid [9244] + 13.21sINFOwaypoint_manager_node-22process started with pid [9245] + 13.21sINFOmove_joint_resampler_node-23process started with pid [9246] + 13.21sINFOmove_end_effector_resampler_node-24process started with pid [9287] + 13.21sINFOobjective_server_node_main-25process started with pid [9289] + 13.21sINFOcomponent_container_mt-26process started with pid [9293] + 13.22sINFOexecute_objective_bridge-27process started with pid [9295] + 13.22sINFOui_teleop_bridge-28process started with pid [9296] + 13.22sINFOweb_bridge-29process started with pid [9297] + 13.22sINFOtf2_web_republisher_node-30process started with pid [9298] + 13.22sINFOweb_video_server-31process started with pid [9301] + 13.22sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 13.22sINFOcomponent_container_isolated-1process started with pid [9147] + 13.22sINFOstatic_transform_publisher-2process started with pid [9148] + 13.22sINFOstatic_transform_publisher-3process started with pid [9149] + 13.22sINFOstatic_transform_publisher-4process started with pid [9150] + 13.22sINFOodom_qos_relay.py-5process started with pid [9151] + 13.22sINFOscan_to_scan_filter_chain-6process started with pid [9152] + 13.22sINFOscan_to_scan_filter_chain-7process started with pid [9153] + 13.22sINFOros2-9process started with pid [9232] + 13.22sINFOros2-10process started with pid [9233] + 13.22sINFOros2-11process started with pid [9234] + 13.22sINFOros2-12process started with pid [9235] + 13.22sINFOros2-13process started with pid [9236] + 13.22sINFOros2-14process started with pid [9237] + 13.22sINFOros2-15process started with pid [9238] + 13.22sINFOros2-16process started with pid [9239] + 13.22sINFOros2-17process started with pid [9240] + 13.22sINFOros2-18process started with pid [9241] + 13.22sINFOros2-19process started with pid [9242] + 13.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 13.25sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×9 + 13.25sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×9 + 13.25sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×9 + 13.25sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×9 + 13.25sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 13.26sINFOstatic_transform_publisherfrom 'mj_world' to 'world'[0m ×3 + 13.26sINFOstatic_transform_publisherfrom 'map' to 'odom'[0m ×3 + 13.26sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 13.26sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 13.26sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 13.26sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 13.26sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 13.26sWARNros2_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 ×3 + 13.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 13.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415676 ms (missed cycles : 3).[0m + 13.41sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 13.43sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 13.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.45sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 13.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 13.55sINFOcomponent_container_mtRobot initialized[0m ×3 + 13.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 13.58sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 13.58sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 13.58sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 13.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.62sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.63sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 13.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 13.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 13.68sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 13.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 13.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 13.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 13.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 13.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 13.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 13.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 13.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 13.96sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 13.96sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 13.96sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 13.96sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×3 + 13.98sWARNscan_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 ×6 + 14.00sINFOmove_groupLoaded robot model in 0.29917 seconds[0m + 14.00sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 14.00sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.52sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 14.53sWARNmove_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 ×3 + 14.53sWARNmove_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 ×3 + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502458 ms (missed cycles : 2).[0m + 14.54sWARNmove_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 ×3 + 14.54sWARNmove_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 ×3 + 14.54sWARNmove_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 ×3 + 14.54sWARNmove_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 ×3 + 14.54sWARNmove_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 ×3 + 14.54sWARNmove_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 ×3 + 14.55sWARNmove_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 ×3 + 14.55sWARNmove_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 ×3 + 14.71sINFOwaypoint_manager_nodeLoaded robot model in 0.492961 seconds[0m + 14.71sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 14.71sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.73sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×14 + 15.10sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 15.10sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 15.11sWARNwaypoint_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 ×3 + 15.11sWARNwaypoint_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 ×3 + 15.12sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.13sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.13sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.13sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.14sWARNwaypoint_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 ×3 + 15.14sWARNwaypoint_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 ×3 + 15.14sWARNwaypoint_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 ×3 + 15.15sWARNwaypoint_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 ×3 + 15.15sWARNwaypoint_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 ×3 + 15.15sWARNwaypoint_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 ×3 + 15.18sWARNwaypoint_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 ×3 + 15.18sWARNwaypoint_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 ×3 + 15.18sWARNwaypoint_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 ×3 + 15.18sWARNwaypoint_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 ×3 + 15.18sWARNwaypoint_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 ×3 + 15.18sWARNwaypoint_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 ×3 + 15.18sWARNwaypoint_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 ×3 + 15.18sWARNwaypoint_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 ×3 + 15.18sWARNwaypoint_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 ×3 + 15.18sWARNwaypoint_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 ×3 + 15.18sWARNwaypoint_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 ×3 + 15.18sWARNwaypoint_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 ×3 + 15.18sWARNwaypoint_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 ×3 + 15.18sWARNwaypoint_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 ×3 + 15.18sWARNwaypoint_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 ×3 + 15.18sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 15.18sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 15.18sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 15.18sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.18sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 15.18sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 15.18sWARNwaypoint_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 ×3 + 15.19sINFOmove_groupStarting planning scene monitor[0m ×3 + 15.19sINFOmove_groupListening to '/planning_scene'[0m ×3 + 15.19sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 15.19sINFOmove_groupListening to 'collision_object'[0m ×3 + 15.19sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 15.63sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 15.63sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.64sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 15.79sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 15.79sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 15.79sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 15.79sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 15.79sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 15.79sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 15.79sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 15.79sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 15.79sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 15.79sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 15.79sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 15.79sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 15.79sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 15.79sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 15.79sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 15.79sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 15.79sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 15.79sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 15.79sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 15.82sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 15.99sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 15.99sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 16.11sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wqn08zb0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_34_p8lzd --params-file /tmp/launch_params_kpfj5_ic [0m + 16.14sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 16.14sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 16.15sINFOobjective_server_node[2026-06-26 14:05:42.619] [moveit_pro_license] [info] + 16.15sINFOobjective_server_node************************************************* ×8 + 16.15sINFOobjective_server_node* MoveIt Pro License ×4 + 16.15sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 16.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 16.22sINFOobjective_server_nodeLoaded robot model in 0.0239334 seconds[0m + 16.22sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 16.22sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×3 + 16.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×3 + 16.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×3 + 16.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×3 + 16.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×3 + 16.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×3 + 16.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×3 + 16.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×3 + 16.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×3 + 16.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×3 + 16.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×3 + 16.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×3 + 16.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×3 + 16.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×3 + 16.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×3 + 16.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×3 + 16.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.29sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261935 ms (missed cycles : 2).[0m + 16.31sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 16.55sINFOros2_control_node[2026-06-26 14:05:43.017] [info] Controller state will be published at 20 Hz. + 16.55sINFOros2_control_node[2026-06-26 14:05:43.018] [info] JointVelocityController 'on_configure' succeeded. + 16.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.58sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.59sWARNcomponent_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 ×3 + 16.63sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 16.63sWARNobjective_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 ×3 + 16.63sWARNobjective_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 ×3 + 16.63sWARNobjective_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 ×3 + 16.63sWARNobjective_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 ×3 + 16.63sWARNobjective_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 ×3 + 16.63sWARNobjective_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 ×3 + 16.63sWARNobjective_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 ×3 + 16.63sWARNobjective_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 ×3 + 16.63sWARNobjective_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 ×3 + 16.64sWARNobjective_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 ×3 + 16.70sINFOobjective_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. ×3 + 16.70sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 16.72sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 16.72sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 16.72sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 16.72sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 16.72sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 16.72sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 16.72sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 16.89sINFOros2-19process has finished cleanly [pid 9242] + 17.00sINFOcomponent_container_mtLoaded robot model in 0.405459 seconds[0m + 17.00sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 17.00sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 17.12sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 17.16sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 17.16sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 17.17sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wqn08zb0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_34_p8lzd --params-file /tmp/launch_params_kpfj5_ic [0m + 17.20sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 17.20sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 17.21sINFOros2_control_nodeconfigure successful[0m ×9 + 17.21sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 17.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 17.21sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 17.36sWARNcomponent_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 ×3 + 17.36sWARNcomponent_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 ×3 + 17.36sWARNcomponent_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 ×3 + 17.37sWARNcomponent_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 ×3 + 17.37sWARNcomponent_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 ×3 + 17.37sWARNcomponent_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 ×3 + 17.37sWARNcomponent_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 ×3 + 17.37sWARNcomponent_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 ×3 + 17.37sWARNcomponent_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 ×3 + 17.37sWARNcomponent_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 ×3 + 17.37sWARNcomponent_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 ×3 + 17.37sWARNcomponent_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 ×3 + 17.37sWARNcomponent_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 ×3 + 17.37sWARNcomponent_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 ×3 + 17.37sWARNcomponent_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 ×3 + 17.37sWARNcomponent_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 ×3 + 17.38sWARNcomponent_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 ×3 + 17.38sWARNcomponent_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 ×3 + 17.38sWARNcomponent_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 ×3 + 17.38sWARNcomponent_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 ×3 + 17.38sWARNcomponent_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 ×3 + 17.38sWARNcomponent_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 ×3 + 17.38sWARNcomponent_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 ×3 + 17.38sWARNcomponent_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 ×3 + 17.38sWARNcomponent_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 ×3 + 17.38sWARNcomponent_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 ×3 + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828997 ms (missed cycles : 3).[0m + 17.38sWARNcomponent_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 ×3 + 17.38sWARNcomponent_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 ×3 + 17.54sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 17.54sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 17.55sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wqn08zb0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_34_p8lzd --params-file /tmp/launch_params_kpfj5_ic [0m + 17.55sINFOros2-9process has finished cleanly [pid 9232] + 17.63sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 17.63sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 17.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 17.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 17.77sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 17.78sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 17.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 17.78sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 17.88sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×3 + 17.89sWARNobjective_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/. ×3 + 17.94sINFOmove_groupTrajectory execution is managing controllers[0m ×3 + 17.94sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 17.94sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 17.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 17.97sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 17.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 17.99sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 18.00sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 18.00sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×3 + 18.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 18.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 18.00sINFOros2-12process has finished cleanly [pid 9235] + 18.07sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 18.07sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 18.07sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 18.07sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 18.08sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 18.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 18.09sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wqn08zb0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_34_p8lzd --params-file /tmp/launch_params_kpfj5_ic [0m + 18.13sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 18.13sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 18.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×3 + 18.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 18.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.21sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.24sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 18.24sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 18.24sINFOcomponent_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 ×3 + 18.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×3 + 18.27sINFOmove_group ×12 + 18.27sINFOmove_group******************************************************** ×6 + 18.27sINFOmove_group* MoveGroup using: ×3 + 18.27sINFOmove_group* - apply_planning_scene_service ×3 + 18.27sINFOmove_group* - clear_octomap_service ×3 + 18.27sINFOmove_group* - ExecuteTaskSolution ×3 + 18.27sINFOmove_group* - get_group_urdf ×3 + 18.27sINFOmove_group* - load_geometry_from_file ×3 + 18.27sINFOmove_group* - get_planning_scene_service ×3 + 18.27sINFOmove_group* - kinematics_service ×3 + 18.27sINFOmove_group* - save_geometry_to_file ×3 + 18.27sINFOmove_group* - GetPlanningGroups ×3 + 18.27sINFOmove_group* - SetActiveControllerService ×3 + 18.27sINFOmove_group* - URDFPlanningSceneCapability ×3 + 18.27sINFOmove_group[0m ×3 + 18.27sINFOmove_group[92mYou can start planning now![0m ×3 + 18.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822537 ms (missed cycles : 5).[0m + 18.54sINFOros2_control_node[2026-06-26 14:05:45.002] [warning] No force/torque sensor configured. The VFC will ignore force references. + 18.54sINFOros2_control_node[2026-06-26 14:05:45.006] [info] Controller state will be published at 10 Hz. + 18.54sINFOros2_control_node[2026-06-26 14:05:45.008] [info] VelocityForceController 'on_configure' succeeded. + 18.82sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 18.88sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 18.88sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 18.88sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wqn08zb0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_34_p8lzd --params-file /tmp/launch_params_kpfj5_ic [0m + 18.92sINFOros2-17process has finished cleanly [pid 9240] + 18.95sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 18.95sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 19.30sINFOros2_control_node[2026-06-26 14:05:45.762] [info] Controller state will be published at 20 Hz. + 19.30sINFOros2_control_node[2026-06-26 14:05:45.764] [info] JointVelocityController 'on_configure' succeeded. + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812577 ms (missed cycles : 2).[0m + 19.68sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 19.68sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 19.68sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wqn08zb0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_34_p8lzd --params-file /tmp/launch_params_kpfj5_ic [0m + 19.68sINFOros2-18process has finished cleanly [pid 9241] + 19.71sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 19.71sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 20.05sINFOros2_control_node[2026-06-26 14:05:46.514] [warning] No force/torque sensor configured. The VFC will ignore force references. + 20.05sINFOros2_control_node[2026-06-26 14:05:46.517] [info] Controller state will be published at 10 Hz. + 20.05sINFOros2_control_node[2026-06-26 14:05:46.518] [info] VelocityForceController 'on_configure' succeeded. + 20.39sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 20.39sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 20.40sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wqn08zb0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_34_p8lzd --params-file /tmp/launch_params_kpfj5_ic [0m + 20.44sINFOros2-16process has finished cleanly [pid 9239] + 20.46sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 20.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 20.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 20.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 20.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 20.48sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 20.48sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 20.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001314 ms (missed cycles : 5).[0m + 20.78sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 20.78sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 20.79sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wqn08zb0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_34_p8lzd --params-file /tmp/launch_params_kpfj5_ic [0m + 20.84sINFOros2-11process has finished cleanly [pid 9234] + 20.86sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 20.87sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 20.87sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 20.88sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 21.21sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 21.21sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 21.21sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wqn08zb0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_34_p8lzd --params-file /tmp/launch_params_kpfj5_ic [0m + 21.24sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 21.25sINFOros2-10process has finished cleanly [pid 9233] + 21.29sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 21.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 21.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 21.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 21.32sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287256 ms (missed cycles : 2).[0m + 21.66sINFOros2-13process has finished cleanly [pid 9236] + 21.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 21.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 21.67sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_wqn08zb0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_34_p8lzd --params-file /tmp/launch_params_kpfj5_ic [0m + 21.71sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 21.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 22.14sINFOros2-14process has finished cleanly [pid 9237] + 22.41sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 22.41sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 22.41sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wqn08zb0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_34_p8lzd --params-file /tmp/launch_params_kpfj5_ic [0m + 22.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 22.49sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 22.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 22.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 22.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 22.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 22.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 22.50sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 22.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229218 ms (missed cycles : 2).[0m + 22.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×30 + 22.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×30 + 22.86sINFOros2-15process has finished cleanly [pid 9238] + 23.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782482749.80205107 seconds. + 23.34sINFOmove_groupClearing octomap...[0m ×4 + 23.34sINFOmove_groupOctomap cleared.[0m ×4 + 23.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782482749.81228852 seconds + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656558 ms (missed cycles : 4).[0m + 23.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782482750.36864877 seconds. + 23.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782482750.37879181 seconds + 24.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782482750.92398691 seconds. + 24.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782482751.07471490 seconds + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021536 ms (missed cycles : 2).[0m + 25.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782482751.65793991 seconds. + 25.21sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 25.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 25.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 25.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 25.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782482751.73809314 seconds + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753918 ms (missed cycles : 2).[0m + 25.82sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782482752.28234053 seconds. + 25.83sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m + 25.88sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] + 25.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782482752.34261322 seconds + 26.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782482753.02646422 seconds. + 26.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×11 + 26.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m + 26.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m + 26.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377767 ms (missed cycles : 3).[0m + 27.63sWARNobjective_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. ×7 + 27.63sINFOobjective_server_nodePlanning for 177 path waypoints. + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809294 ms (missed cycles : 2).[0m + 27.88sINFOros2_control_nodeReceived new action goal[0m ×17 + 27.88sINFOros2_control_nodeAccepted new action goal[0m ×17 + 28.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814948 ms (missed cycles : 5).[0m + 29.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206657 ms (missed cycles : 4).[0m + 30.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.754597 ms (missed cycles : 5).[0m + 32.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953670 ms (missed cycles : 3).[0m + 33.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873136 ms (missed cycles : 3).[0m + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939569 ms (missed cycles : 3).[0m + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288398 ms (missed cycles : 2).[0m + 36.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827717 ms (missed cycles : 2).[0m + 37.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966141 ms (missed cycles : 2).[0m + 38.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208657 ms (missed cycles : 2).[0m + 39.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.672623 ms (missed cycles : 6).[0m + 40.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841696 ms (missed cycles : 3).[0m + 41.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073424 ms (missed cycles : 4).[0m + 42.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216301 ms (missed cycles : 2).[0m + 43.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175723 ms (missed cycles : 2).[0m + 44.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006127 ms (missed cycles : 4).[0m + 45.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204275 ms (missed cycles : 3).[0m + 46.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.633121 ms (missed cycles : 6).[0m + 47.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766234 ms (missed cycles : 3).[0m + 48.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443561 ms (missed cycles : 3).[0m + 49.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.898716 ms (missed cycles : 6).[0m + 50.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094138 ms (missed cycles : 2).[0m + 51.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902880 ms (missed cycles : 3).[0m + 52.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.831168 ms (missed cycles : 6).[0m + 53.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.605363 ms (missed cycles : 5).[0m + 55.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274840 ms (missed cycles : 2).[0m + 56.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.570525 ms (missed cycles : 4).[0m + 57.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013460 ms (missed cycles : 5).[0m + 58.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759005 ms (missed cycles : 2).[0m + 59.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297978 ms (missed cycles : 2).[0m + 60.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.543029 ms (missed cycles : 6).[0m + 61.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253607 ms (missed cycles : 2).[0m + 62.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.266939 ms (missed cycles : 5).[0m + 63.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893913 ms (missed cycles : 5).[0m + 64.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978224 ms (missed cycles : 3).[0m + 65.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833576 ms (missed cycles : 3).[0m + 66.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.979058 ms (missed cycles : 6).[0m + 67.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408747 ms (missed cycles : 3).[0m + 68.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118961 ms (missed cycles : 3).[0m + 69.25sINFOros2_control_nodeGoal reached, success![0m ×16 + 69.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782482795.74961805 seconds + 69.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527612 ms (missed cycles : 4).[0m + 69.84sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782482796.30909109 seconds. + 70.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250492 ms (missed cycles : 2).[0m + 70.80sINFOobjective_server_nodeFound path in 0 iterations (2.313e-05 s). + 70.80sINFOobjective_server_nodePath shortcutter: [X____X] + 70.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 71.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118330 ms (missed cycles : 5).[0m + 72.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948488 ms (missed cycles : 2).[0m + 72.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782482799.39924812 seconds + 73.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782482799.95136976 seconds. + 73.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199867 ms (missed cycles : 2).[0m + 73.83sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×3 + 74.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600641 ms (missed cycles : 4).[0m + 75.38sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 75.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720338 ms (missed cycles : 2).[0m + 76.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532268 ms (missed cycles : 3).[0m + 77.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683891 ms (missed cycles : 2).[0m + 78.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863241 ms (missed cycles : 5).[0m + 80.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265811 ms (missed cycles : 2).[0m + 81.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118462 ms (missed cycles : 2).[0m + 82.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385223 ms (missed cycles : 2).[0m + 83.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284116 ms (missed cycles : 2).[0m + 84.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.374599 ms (missed cycles : 6).[0m + 85.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.884193 ms (missed cycles : 6).[0m + 85.83sINFOros2_control_nodeMuJoCo sim: 0.77% of iterations over time budget. Below 1% expected for non-realtime.[0m + 86.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318233 ms (missed cycles : 2).[0m + 87.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139315 ms (missed cycles : 2).[0m + 88.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888100 ms (missed cycles : 2).[0m + 89.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686148 ms (missed cycles : 2).[0m + 90.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195398 ms (missed cycles : 2).[0m + 91.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605838 ms (missed cycles : 4).[0m + 92.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913251 ms (missed cycles : 3).[0m + 93.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.809200 ms (missed cycles : 5).[0m + 94.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876327 ms (missed cycles : 2).[0m + 95.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494805 ms (missed cycles : 3).[0m + 96.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221589 ms (missed cycles : 2).[0m + 97.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.533225 ms (missed cycles : 7).[0m + 98.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060593 ms (missed cycles : 2).[0m + 99.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811359 ms (missed cycles : 5).[0m +100.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251936 ms (missed cycles : 2).[0m +101.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920579 ms (missed cycles : 3).[0m +103.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551242 ms (missed cycles : 2).[0m +104.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682071 ms (missed cycles : 3).[0m +104.14sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +105.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 75.383805 ms (missed cycles : 46).[0m +106.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966840 ms (missed cycles : 2).[0m +107.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654586 ms (missed cycles : 3).[0m +108.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987046 ms (missed cycles : 2).[0m +109.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307704 ms (missed cycles : 4).[0m +110.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119030 ms (missed cycles : 2).[0m +111.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674281 ms (missed cycles : 2).[0m +112.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.032534 ms (missed cycles : 5).[0m +113.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.782142 ms (missed cycles : 6).[0m +114.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291514 ms (missed cycles : 2).[0m +115.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632642 ms (missed cycles : 4).[0m +116.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495965 ms (missed cycles : 2).[0m +117.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931645 ms (missed cycles : 3).[0m +118.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261054 ms (missed cycles : 2).[0m +119.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138875 ms (missed cycles : 2).[0m +120.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280756 ms (missed cycles : 2).[0m +121.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825984 ms (missed cycles : 3).[0m +122.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.146159 ms (missed cycles : 4).[0m +124.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.827557 ms (missed cycles : 5).[0m +125.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151386 ms (missed cycles : 2).[0m +126.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357084 ms (missed cycles : 4).[0m +127.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680129 ms (missed cycles : 2).[0m +128.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292167 ms (missed cycles : 2).[0m +129.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330018 ms (missed cycles : 2).[0m +129.85sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782482856.31151414 seconds +130.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256002 ms (missed cycles : 4).[0m +130.43sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782482856.89198112 seconds. +130.76sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). +130.79sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +131.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594529 ms (missed cycles : 3).[0m +132.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.340810 ms (missed cycles : 6).[0m +133.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886448 ms (missed cycles : 3).[0m +134.46sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782482860.92213845 seconds +134.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162518 ms (missed cycles : 2).[0m +135.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234139 ms (missed cycles : 2).[0m +136.01sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782482862.47706151 seconds. +136.35sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). +136.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397102 ms (missed cycles : 3).[0m +137.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803347 ms (missed cycles : 2).[0m +137.80sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +138.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389603 ms (missed cycles : 3).[0m +139.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696657 ms (missed cycles : 3).[0m +140.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339780 ms (missed cycles : 3).[0m +141.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.239042 ms (missed cycles : 8).[0m +142.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328877 ms (missed cycles : 2).[0m +143.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320932 ms (missed cycles : 2).[0m +144.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963627 ms (missed cycles : 3).[0m +145.83sINFOros2_control_nodeMuJoCo sim: 0.92% of iterations over time budget. Below 1% expected for non-realtime.[0m +145.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.782297 ms (missed cycles : 5).[0m +146.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898284 ms (missed cycles : 3).[0m +148.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248933 ms (missed cycles : 4).[0m +149.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.217617 ms (missed cycles : 7).[0m +150.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538289 ms (missed cycles : 2).[0m +151.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504389 ms (missed cycles : 3).[0m +152.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569568 ms (missed cycles : 3).[0m +153.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329455 ms (missed cycles : 2).[0m +154.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241412 ms (missed cycles : 4).[0m +155.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006860 ms (missed cycles : 2).[0m +156.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720973 ms (missed cycles : 5).[0m +157.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597335 ms (missed cycles : 3).[0m +158.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175488 ms (missed cycles : 2).[0m +159.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057913 ms (missed cycles : 2).[0m +160.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093969 ms (missed cycles : 3).[0m +161.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592721 ms (missed cycles : 2).[0m +162.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625495 ms (missed cycles : 5).[0m +163.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.009908 ms (missed cycles : 6).[0m +164.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468901 ms (missed cycles : 6).[0m +165.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314158 ms (missed cycles : 4).[0m +166.45sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782482892.91720867 seconds +166.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677667 ms (missed cycles : 2).[0m +167.02sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782482893.48623443 seconds. +167.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039682 ms (missed cycles : 2).[0m +168.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +168.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.556610 ms (missed cycles : 7).[0m +169.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.708136 ms (missed cycles : 5).[0m +171.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.761314 ms (missed cycles : 5).[0m +172.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689324 ms (missed cycles : 5).[0m +173.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523903 ms (missed cycles : 3).[0m +174.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561184 ms (missed cycles : 3).[0m +175.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823158 ms (missed cycles : 3).[0m +176.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648625 ms (missed cycles : 4).[0m +177.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953847 ms (missed cycles : 5).[0m +178.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688507 ms (missed cycles : 5).[0m +179.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562701 ms (missed cycles : 4).[0m +180.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437810 ms (missed cycles : 3).[0m +181.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837320 ms (missed cycles : 5).[0m +182.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802674 ms (missed cycles : 2).[0m +183.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927049 ms (missed cycles : 2).[0m +184.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623339 ms (missed cycles : 2).[0m +185.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387801 ms (missed cycles : 2).[0m +186.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483516 ms (missed cycles : 4).[0m +187.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.165822 ms (missed cycles : 10).[0m +188.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.698623 ms (missed cycles : 5).[0m +189.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516901 ms (missed cycles : 2).[0m +190.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935013 ms (missed cycles : 2).[0m +191.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227292 ms (missed cycles : 2).[0m +192.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.911182 ms (missed cycles : 6).[0m +194.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509269 ms (missed cycles : 3).[0m +195.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.889455 ms (missed cycles : 6).[0m +196.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768172 ms (missed cycles : 3).[0m +196.19sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +196.79sINFOobjective_server_nodePlanning for 51 path waypoints. +197.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962197 ms (missed cycles : 6).[0m +198.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536801 ms (missed cycles : 2).[0m +199.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598707 ms (missed cycles : 3).[0m +200.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622955 ms (missed cycles : 3).[0m +201.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921154 ms (missed cycles : 2).[0m +202.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820151 ms (missed cycles : 2).[0m +203.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963143 ms (missed cycles : 2).[0m +204.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419560 ms (missed cycles : 6).[0m +205.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131863 ms (missed cycles : 2).[0m +205.84sINFOros2_control_nodeMuJoCo sim: 1.01% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +206.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535178 ms (missed cycles : 4).[0m +207.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.981723 ms (missed cycles : 6).[0m +208.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079850 ms (missed cycles : 4).[0m +209.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912272 ms (missed cycles : 2).[0m +210.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093546 ms (missed cycles : 3).[0m +211.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945309 ms (missed cycles : 3).[0m +212.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572926 ms (missed cycles : 3).[0m +213.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355211 ms (missed cycles : 3).[0m +214.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510207 ms (missed cycles : 6).[0m +215.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021795 ms (missed cycles : 4).[0m +216.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990109 ms (missed cycles : 3).[0m +217.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.322080 ms (missed cycles : 4).[0m +218.75sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782482945.21640730 seconds +218.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002468 ms (missed cycles : 2).[0m +219.31sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782482945.77938867 seconds. +219.67sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 +219.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201170 ms (missed cycles : 2).[0m +220.93sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] +220.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312269 ms (missed cycles : 3).[0m +222.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949378 ms (missed cycles : 3).[0m +223.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621199 ms (missed cycles : 4).[0m +224.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341057 ms (missed cycles : 6).[0m +225.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178987 ms (missed cycles : 2).[0m +226.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875121 ms (missed cycles : 5).[0m +227.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044912 ms (missed cycles : 2).[0m +228.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485317 ms (missed cycles : 2).[0m +229.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238212 ms (missed cycles : 2).[0m +229.73sINFOros2_control_nodeGot request to cancel goal[0m +229.73sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +229.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782482956.22916460 seconds +230.32sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782482956.78007126 seconds. +230.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937259 ms (missed cycles : 3).[0m +230.68sINFOobjective_server_nodeFound path in 0 iterations (8.9e-07 s). +231.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.202943 ms (missed cycles : 5).[0m +231.91sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 +232.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449502 ms (missed cycles : 2).[0m +233.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.886088 ms (missed cycles : 6).[0m +234.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.196283 ms (missed cycles : 7).[0m +235.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628017 ms (missed cycles : 4).[0m +236.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846538 ms (missed cycles : 4).[0m +237.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064716 ms (missed cycles : 2).[0m +238.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454917 ms (missed cycles : 3).[0m +239.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191632 ms (missed cycles : 2).[0m +240.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022745 ms (missed cycles : 3).[0m +241.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060310 ms (missed cycles : 4).[0m +242.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864674 ms (missed cycles : 2).[0m +244.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181910 ms (missed cycles : 4).[0m +245.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701385 ms (missed cycles : 2).[0m +246.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819411 ms (missed cycles : 2).[0m +247.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.906212 ms (missed cycles : 6).[0m +248.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882564 ms (missed cycles : 2).[0m +249.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059559 ms (missed cycles : 2).[0m +250.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114615 ms (missed cycles : 2).[0m +251.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683341 ms (missed cycles : 3).[0m +252.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276934 ms (missed cycles : 2).[0m +253.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.734280 ms (missed cycles : 7).[0m +254.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775906 ms (missed cycles : 3).[0m +255.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.028637 ms (missed cycles : 4).[0m +256.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688460 ms (missed cycles : 5).[0m +257.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950848 ms (missed cycles : 2).[0m +258.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.348768 ms (missed cycles : 6).[0m +259.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930400 ms (missed cycles : 3).[0m +260.07sINFOobjective_server_nodePlanning for 34 path waypoints. +260.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107766 ms (missed cycles : 4).[0m +261.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610038 ms (missed cycles : 3).[0m +262.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094304 ms (missed cycles : 2).[0m +263.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536197 ms (missed cycles : 3).[0m +264.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655677 ms (missed cycles : 3).[0m +265.85sINFOros2_control_nodeMuJoCo sim: 1.10% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +266.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405840 ms (missed cycles : 3).[0m +267.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084922 ms (missed cycles : 4).[0m +268.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763990 ms (missed cycles : 2).[0m +269.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865003 ms (missed cycles : 5).[0m +270.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290502 ms (missed cycles : 2).[0m +271.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.389539 ms (missed cycles : 6).[0m +272.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982377 ms (missed cycles : 2).[0m +273.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474729 ms (missed cycles : 3).[0m +274.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238347 ms (missed cycles : 3).[0m +275.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.001690 ms (missed cycles : 7).[0m +276.42sINFOobjective_server_nodePlanning for 45 path waypoints. +276.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259087 ms (missed cycles : 2).[0m +277.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783054 ms (missed cycles : 2).[0m +278.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351609 ms (missed cycles : 6).[0m +279.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.521161 ms (missed cycles : 7).[0m +280.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557417 ms (missed cycles : 3).[0m +281.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252661 ms (missed cycles : 2).[0m +282.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721785 ms (missed cycles : 2).[0m +283.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674211 ms (missed cycles : 2).[0m +284.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887421 ms (missed cycles : 3).[0m +286.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.718235 ms (missed cycles : 5).[0m +287.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964240 ms (missed cycles : 2).[0m +288.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692350 ms (missed cycles : 2).[0m +289.04sINFOobjective_server_nodePlanning for 32 path waypoints. +289.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127876 ms (missed cycles : 2).[0m +290.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332278 ms (missed cycles : 2).[0m +291.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673893 ms (missed cycles : 5).[0m +292.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178353 ms (missed cycles : 2).[0m +293.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.067484 ms (missed cycles : 7).[0m +294.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716958 ms (missed cycles : 3).[0m +295.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.244559 ms (missed cycles : 4).[0m +296.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.571066 ms (missed cycles : 4).[0m +297.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968635 ms (missed cycles : 3).[0m +298.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.055202 ms (missed cycles : 7).[0m +299.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200502 ms (missed cycles : 2).[0m +300.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325244 ms (missed cycles : 4).[0m +301.27sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782483027.73444533 seconds +301.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019106 ms (missed cycles : 2).[0m +301.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782483028.29816222 seconds. +302.21sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). +302.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.686588 ms (missed cycles : 6).[0m +303.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.688334 ms (missed cycles : 6).[0m +304.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163510 ms (missed cycles : 3).[0m +305.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786831 ms (missed cycles : 4).[0m +306.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321059 ms (missed cycles : 2).[0m +307.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253481 ms (missed cycles : 4).[0m +308.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814785 ms (missed cycles : 4).[0m +309.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674781 ms (missed cycles : 3).[0m +310.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.342562 ms (missed cycles : 6).[0m +312.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943856 ms (missed cycles : 5).[0m +313.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229552 ms (missed cycles : 2).[0m +314.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863035 ms (missed cycles : 3).[0m +315.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633260 ms (missed cycles : 3).[0m +316.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664610 ms (missed cycles : 3).[0m +317.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451921 ms (missed cycles : 3).[0m +318.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107079 ms (missed cycles : 2).[0m +319.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287119 ms (missed cycles : 4).[0m +320.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384458 ms (missed cycles : 6).[0m +321.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785475 ms (missed cycles : 2).[0m +322.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.932055 ms (missed cycles : 5).[0m +323.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891914 ms (missed cycles : 2).[0m +324.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158688 ms (missed cycles : 2).[0m +325.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060351 ms (missed cycles : 2).[0m +325.85sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +326.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261931 ms (missed cycles : 4).[0m +327.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320351 ms (missed cycles : 3).[0m +328.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.002698 ms (missed cycles : 6).[0m +329.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103389 ms (missed cycles : 2).[0m +330.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.691056 ms (missed cycles : 8).[0m +331.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092224 ms (missed cycles : 3).[0m +332.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751071 ms (missed cycles : 3).[0m +333.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973663 ms (missed cycles : 3).[0m +334.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576736 ms (missed cycles : 2).[0m +335.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286886 ms (missed cycles : 4).[0m +336.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207597 ms (missed cycles : 2).[0m +337.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142678 ms (missed cycles : 2).[0m +338.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.964286 ms (missed cycles : 6).[0m +340.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366612 ms (missed cycles : 6).[0m +341.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.647769 ms (missed cycles : 6).[0m +342.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019558 ms (missed cycles : 2).[0m +343.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099405 ms (missed cycles : 4).[0m +344.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978147 ms (missed cycles : 2).[0m +345.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811933 ms (missed cycles : 2).[0m +346.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584700 ms (missed cycles : 3).[0m +347.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774131 ms (missed cycles : 3).[0m +348.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339289 ms (missed cycles : 3).[0m +349.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688907 ms (missed cycles : 3).[0m +350.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265625 ms (missed cycles : 2).[0m +351.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244222 ms (missed cycles : 4).[0m +352.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134205 ms (missed cycles : 3).[0m +353.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043348 ms (missed cycles : 2).[0m +354.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504266 ms (missed cycles : 6).[0m +355.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578993 ms (missed cycles : 3).[0m +356.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782483082.99833608 seconds +356.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959425 ms (missed cycles : 2).[0m +357.09sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782483083.55725360 seconds. +357.44sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 +357.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973450 ms (missed cycles : 2).[0m +358.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450198 ms (missed cycles : 3).[0m +359.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854076 ms (missed cycles : 5).[0m +360.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302972 ms (missed cycles : 2).[0m +361.70sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 +361.73sINFOobjective_server_nodePath shortcutter: [X__________________X] +361.76sINFOobjective_server_nodeFound path in 0 iterations (8.3e-07 s). +361.79sINFOobjective_server_nodePath shortcutter: [X____________________X] +361.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795946 ms (missed cycles : 2).[0m +361.87sINFOobjective_server_nodePath shortcutter: [X_________________________X] +362.06sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +362.31sINFOobjective_server_nodeFound path in 29 iterations (0.0285544 s). +362.53sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] +362.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147276 ms (missed cycles : 2).[0m +362.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +362.99sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). +363.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +363.36sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +363.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.799217 ms (missed cycles : 5).[0m +365.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196413 ms (missed cycles : 4).[0m +366.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859284 ms (missed cycles : 4).[0m +367.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114992 ms (missed cycles : 5).[0m +368.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154955 ms (missed cycles : 4).[0m +369.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478704 ms (missed cycles : 3).[0m +369.36sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782483095.82237744 seconds +369.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782483096.42207789 seconds. +370.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146029 ms (missed cycles : 3).[0m +370.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782483096.89220810 seconds +370.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782483097.44738770 seconds. +371.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.544764 ms (missed cycles : 5).[0m +371.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782483097.91753459 seconds +371.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +372.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173358 ms (missed cycles : 5).[0m +373.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.834604 ms (missed cycles : 6).[0m +374.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.650536 ms (missed cycles : 5).[0m +375.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147099 ms (missed cycles : 4).[0m +376.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926046 ms (missed cycles : 2).[0m +377.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.433031 ms (missed cycles : 5).[0m +377.69sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.69sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.70sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.70sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.71sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.71sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.71sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.72sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.72sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.72sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.73sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] +377.75sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.76sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.76sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.77sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.77sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.77sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.78sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] +377.80sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.80sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.80sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.81sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +377.81sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] +377.83sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] +377.85sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] +377.87sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +377.89sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] +377.91sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] +377.93sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] +377.95sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] +377.97sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +377.97sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] +377.99sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] +378.01sINFOweb_video_server-31process has finished cleanly [pid 9301] +378.02sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] +378.04sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +378.05sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9298] +378.06sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +378.08sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +378.08sERRORmove_group-20process has died [pid 9243, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_izml4_8y --params-file /tmp/launch_params_pbnkjv9c --params-file /tmp/launch_params_6ot_hh2f --params-file /tmp/launch_params_w_drt0yl --params-file /tmp/launch_params_8vmr8xlp --params-file /tmp/launch_params_d2gxn6sy --params-file /tmp/launch_params_exu01lun --params-file /tmp/launch_params_5qbvirwl --params-file /tmp/launch_params_euy9fuyz']. +378.08sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +378.09sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +378.11sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +378.13sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +378.14sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +378.14sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +378.14sERRORui_teleop_bridgeTraceback (most recent call last): +378.14sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +378.14sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +378.14sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +378.14sINFOui_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 +378.14sINFOui_teleop_bridgerclpy.shutdown() +378.14sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +378.14sINFOui_teleop_bridge_shutdown(context=context) +378.15sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +378.15sINFOui_teleop_bridgecontext.shutdown() +378.15sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +378.15sINFOui_teleop_bridgeself.__context.shutdown() +378.15sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +378.15sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m +378.15sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +378.15sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +378.15sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +378.15sINFOcomponent_container_mtStopping planning scene monitor[0m +378.15sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +378.15sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +378.15sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +378.15sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +378.15sERRORmove_groupwhat(): context cannot be slept with because it's invalid +378.15sERRORmove_groupStack trace (most recent call last) in thread 9798: +378.15sINFOobjective_server_node[2026-06-26 14:11:44.476] [moveit_pro_license] [info] +378.15sINFOobjective_server_node* Application has successfully terminated +378.15sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +378.15sINFOros2_control_nodeShutdown request received....[0m +378.15sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +378.15sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +378.15sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +378.15sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +378.15sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +378.15sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +378.15sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +378.15sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +378.15sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +378.15sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +378.15sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +378.16sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +378.16sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +378.16sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +378.16sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +378.16sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +378.16sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +378.16sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +378.16sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +378.16sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +378.16sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +378.16sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +378.16sINFOros2_control_nodeShutting down the controller manager.[0m +378.16sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +378.16sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +378.16sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f17c90bfa63, in __clone +378.16sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f17c9032aa3, in +378.16sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f17c92c4db3, in +378.16sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f17c99191c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +378.16sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f17c96374d0, in rclcpp::Rate::sleep() +378.16sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f17c958aa88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +378.16sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f17c954fa71, in +378.16sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f17c9293390, in __cxa_throw +378.16sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f17c927da54, in std::terminate() +378.16sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f17c92930d9, in +378.16sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f17c927dff4, in +378.16sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f17c8fbe8fe, in abort +378.16sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f17c8fdb27d, in raise +378.16sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f17c9034b2c, in pthread_kill +378.16sERRORmove_groupAborted (Signal sent by tkill() 9243 0) +378.16sERRORobjective_server_node_main-25process has died [pid 9289, 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_p3ets_k2 --params-file /tmp/launch_params_u59ulisi --params-file /tmp/launch_params_a8ubale6 --params-file /tmp/launch_params_squiv07e --params-file /tmp/launch_params_dj2_zwwi --params-file /tmp/launch_params_pmznwnne --params-file /tmp/launch_params_2sr4qk3r --params-file /tmp/launch_params_k0hhaeye --params-file /tmp/launch_params_g196fi42']. +378.16sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system +378.16sERRORobjective_server_nodeStack trace (most recent call last): +378.16sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +378.16sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +378.16sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561eeaac86a4, in _start +378.16sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7b335d628a, in __libc_start_main +378.16sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7b335d61d0, in +378.16sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7b335f3bbd, in exit +378.16sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7b335f3a75, in +378.16sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f7b33ac54a2, in spdlog::details::registry::~registry() +378.16sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f7b33ad069d, 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() +378.16sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f7b33aca965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +378.16sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561eeaacf315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +378.16sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561eeaace5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +378.16sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561eeaacab7b, in spdlog_ros::RosSink::~RosSink() +378.16sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561eeaac8d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +378.16sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7b3416c454, in rclcpp::Node::~Node() +378.16sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7b34127515, in +378.16sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7b3416ad20, in +378.16sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7b3416ac63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +378.16sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7b341275d9, in +378.16sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7b3412c161, in rclcpp::CallbackGroup::~CallbackGroup() +378.16sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f7ade9b2120]) +378.17sERRORodom_qos_relay.pyTraceback (most recent call last): +378.17sINFOodom_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> +378.17sINFOodom_qos_relay.pymain() +378.17sINFOodom_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 +378.17sINFOodom_qos_relay.pyrclpy.spin(node) +378.17sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +378.17sINFOodom_qos_relay.pyexecutor.spin_once() +378.17sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +378.17sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +378.17sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +378.17sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +378.17sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +378.17sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +378.17sINFOodom_qos_relay.pyreturn next(self._cb_iter) +378.17sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +378.17sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +378.17sINFOodom_qos_relay.pyraise ExternalShutdownException() +378.17sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +378.17sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×3 +378.17sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system +378.17sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +378.24sINFOros2_control_nodeAsync messages lost 0[0m ×2 +378.24sINFOros2_control_nodepublish_async_failures_ 0[0m +378.24sINFOros2_control_nodepublish_async_failures_ 2[0m +378.96sERRORui_teleop_bridge-28process has died [pid 9296, 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_ajf2w8ds']. +378.97sINFOexecute_objective_bridge-27process has finished cleanly [pid 9295] +378.97sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9287] +378.98sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9246] +379.04sINFOparameter_manager_node-21process has finished cleanly [pid 9244] +379.06sINFOwaypoint_manager_node-22process has finished cleanly [pid 9245] +379.09sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9153] +379.10sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9152] +379.13sINFOstatic_transform_publisher-4process has finished cleanly [pid 9150] +379.15sINFOstatic_transform_publisher-3process has finished cleanly [pid 9149] +379.17sINFOstatic_transform_publisher-2process has finished cleanly [pid 9148] +379.18sERRORodom_qos_relay.py-5process has died [pid 9151, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. +379.18sINFOcomponent_container_mt-26process has finished cleanly [pid 9293] +380.66sINFOweb_bridge-29process has finished cleanly [pid 9297] +380.66sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system +380.84sINFOros2_control_node-8process has finished cleanly [pid 9154] +382.69sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +382.71sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] +382.72sERRORcomponent_container_isolated-1process has died [pid 9147, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_oywunpi2 --params-file /tmp/launch_params_wy6579yu -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +390.44sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-26-14-11-53-726115-8830ef5e8d27-10134 ×2 +403.34sINFOstatic_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' +403.34sINFOstatic_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' +403.34sINFOstatic_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' +403.44sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +403.47sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +403.48sINFOcontroller_managerupdate rate is 600 Hz +403.48sINFOcontroller_managerOverruns handling is : enabled +403.48sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +403.48sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +403.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +403.56sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +403.56sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +403.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584127 ms (missed cycles : 4). +403.59sINFOros2_control_node-8process started with pid [10190] ×2 +403.59sINFOmove_group-20process started with pid [10279] ×2 +403.59sINFOparameter_manager_node-21process started with pid [10280] ×2 +403.60sINFOwaypoint_manager_node-22process started with pid [10281] ×2 +403.60sINFOmove_joint_resampler_node-23process started with pid [10282] ×2 +403.60sINFOmove_end_effector_resampler_node-24process started with pid [10340] ×2 +403.60sINFOobjective_server_node_main-25process started with pid [10341] ×2 +403.60sINFOcomponent_container_mt-26process started with pid [10342] ×2 +403.60sINFOexecute_objective_bridge-27process started with pid [10343] ×2 +403.60sINFOui_teleop_bridge-28process started with pid [10346] ×2 +403.60sINFOweb_bridge-29process started with pid [10347] ×2 +403.60sINFOtf2_web_republisher_node-30process started with pid [10348] ×2 +403.60sINFOweb_video_server-31process started with pid [10349] ×2 +403.61sINFOcontroller_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. +403.61sINFOcomponent_container_isolated-1process started with pid [10183] ×2 +403.61sINFOstatic_transform_publisher-2process started with pid [10184] ×2 +403.61sINFOstatic_transform_publisher-3process started with pid [10185] ×2 +403.61sINFOstatic_transform_publisher-4process started with pid [10186] ×2 +403.61sINFOodom_qos_relay.py-5process started with pid [10187] ×2 +403.61sINFOscan_to_scan_filter_chain-6process started with pid [10188] ×2 +403.62sINFOscan_to_scan_filter_chain-7process started with pid [10189] ×2 +403.62sINFOros2-9process started with pid [10268] ×2 +403.62sINFOros2-10process started with pid [10269] ×2 +403.62sINFOros2-11process started with pid [10270] ×2 +403.62sINFOros2-12process started with pid [10271] ×2 +403.62sINFOros2-13process started with pid [10272] ×2 +403.62sINFOros2-14process started with pid [10273] ×2 +403.62sINFOros2-15process started with pid [10274] ×2 +403.62sINFOros2-16process started with pid [10275] ×2 +403.62sINFOros2-17process started with pid [10276] ×2 +403.62sINFOros2-18process started with pid [10277] ×2 +403.62sINFOros2-19process started with pid [10278] ×2 +403.73sINFOcontroller_serverCreating controller server +403.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584127 ms (missed cycles : 4).[0m ×2 +403.77sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +403.79sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +403.79sINFOlocal_costmap.local_costmapCreating Costmap +403.81sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +403.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +403.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +403.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +403.84sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +403.87sINFOmap_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. +403.87sINFOmap_serverCreating +403.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +403.88sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +403.88sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +403.90sINFOsmoother_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. +403.92sINFOsmoother_serverCreating smoother server +403.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +403.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +403.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +403.95sINFOlifecycle_manager_localizationCreating +403.96sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +403.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +403.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +403.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +403.97sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +403.97sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +403.97sINFOmap_serverConfiguring +403.98sINFOplanner_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. +404.01sINFOplanner_serverCreating +404.03sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +404.05sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +404.05sINFOmap_serverActivating +404.06sINFOmap_serverCreating bond (map_server) to lifecycle manager. +404.06sINFOglobal_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. +404.07sINFOglobal_costmap.global_costmapCreating Costmap +404.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +404.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +404.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +404.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +404.09sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +404.12sINFObehavior_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. +404.15sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +404.16sINFOcontroller_managerReceived robot description from topic. +404.16sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +404.16sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +404.16sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +404.16sINFOrobot_state_publisherRobot initialized +404.17sINFOlifecycle_manager_localizationServer map_server connected with bond. +404.17sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +404.17sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +404.18sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +404.18sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +404.18sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +404.18sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +404.18sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +404.18sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +404.18sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +404.18sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +404.18sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +404.19sINFObt_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. +404.20sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +404.20sINFObt_navigatorCreating +404.21sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +404.25sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +404.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +404.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +404.26sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +404.26sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +404.31sINFOwaypoint_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. +404.32sINFOwaypoint_followerCreating +404.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +404.33sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +404.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +404.33sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +404.35sWARNlaser_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. +404.35sWARNlaser_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. +404.36sINFOvelocity_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. +404.39sINFOlifecycle_manager_navigationCreating +404.40sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +404.43sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.414753 seconds +404.43sINFOmove_groupLoaded robot model in 0.414753 seconds[0m ×2 +404.43sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +404.43sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +404.44sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +404.44sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +404.44sINFOcontroller_serverConfiguring controller interface +404.44sINFOcontroller_servergetting progress checker plugins.. +404.45sINFOcontroller_servergetting goal checker plugins.. +404.45sINFOcontroller_serverController frequency set to 20.0000Hz +404.45sINFOlocal_costmap.local_costmapConfiguring +404.46sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +404.49sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +404.54sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +404.54sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +404.55sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +404.60sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +404.60sINFOcontroller_serverController Server has progress_checker progress checkers available. +404.60sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +404.61sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +404.61sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +404.64sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +404.65sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +404.65sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +404.66sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +404.66sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +404.67sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +404.67sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +404.67sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +404.67sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +404.68sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +404.68sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +404.68sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +404.69sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +404.69sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +404.69sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +404.69sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +404.69sINFOcontroller_serverOptimizer reset +404.70sINFOcontroller_serverController Server has FollowPath controllers available. +404.72sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +404.72sINFOsmoother_serverConfiguring smoother server +404.73sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +404.74sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +404.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.572458 ms (missed cycles : 6). +404.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.572458 ms (missed cycles : 6).[0m ×2 +404.75sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +404.75sINFOplanner_serverConfiguring +404.75sINFOglobal_costmap.global_costmapConfiguring +404.76sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +404.77sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +404.77sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +404.77sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +404.78sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +404.81sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +404.81sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +404.82sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +404.85sFATALplanner_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 +404.85sINFOplanner_serverCleaning up +404.85sINFOglobal_costmap.global_costmapCleaning up +404.85sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +404.93sERRORlifecycle_manager_navigationFailed to change state for node: planner_server +404.93sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. +405.06sINFOwaypoint_manager_nodeLoaded robot model in 0.602245 seconds[0m ×2 +405.10sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +405.11sWARNmove_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. +405.11sWARNmove_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. +405.11sWARNmove_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. +405.12sWARNmove_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. +405.13sWARNmove_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. +405.13sWARNmove_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. +405.13sWARNmove_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. +405.13sWARNmove_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. +405.14sWARNmove_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. +405.14sWARNmove_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. +405.21sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +405.41sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +405.41sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +405.56sWARNwaypoint_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. +405.56sWARNwaypoint_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. +405.57sWARNwaypoint_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. +405.57sWARNwaypoint_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. +405.57sWARNwaypoint_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. +405.57sWARNwaypoint_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. +405.57sWARNwaypoint_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. +405.57sWARNwaypoint_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. +405.58sWARNwaypoint_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. +405.58sWARNwaypoint_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. +405.58sWARNwaypoint_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. +405.58sWARNwaypoint_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. +405.58sWARNwaypoint_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. +405.58sWARNwaypoint_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. +405.58sWARNwaypoint_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. +405.59sWARNwaypoint_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. +405.59sWARNwaypoint_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. +405.59sWARNwaypoint_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. +405.59sWARNwaypoint_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. +405.59sWARNwaypoint_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. +405.59sWARNwaypoint_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. +405.59sWARNwaypoint_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. +405.59sWARNwaypoint_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. +405.59sWARNwaypoint_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. +405.59sWARNwaypoint_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. +405.59sWARNwaypoint_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. +405.60sWARNwaypoint_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. +405.60sWARNwaypoint_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. +405.87sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +405.87sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +405.87sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +405.87sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +405.87sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +405.87sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +405.88sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +405.88sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +405.88sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +405.88sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +405.88sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +406.23sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +406.23sINFOcontroller_managerActivating component 'ur_mujoco_control'. +406.23sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +406.23sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +406.26sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +406.26sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +406.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +406.47sINFOcontroller_managerLoading controller 'velocity_force_controller' +406.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +406.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +406.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +406.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +406.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +406.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +406.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +406.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +406.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +406.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +406.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +406.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +406.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +406.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +406.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +406.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +406.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +406.60sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +406.60sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp +406.60sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 +406.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453078 ms (missed cycles : 2). +406.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453078 ms (missed cycles : 2).[0m ×2 +406.63sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +406.64sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +406.65sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +406.77sINFOobjective_server_node[2026-06-26 14:12:13.235] [moveit_pro_license] [info] ×2 +406.83sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +406.83sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +406.87sINFOobjective_server_nodeLoaded robot model in 0.0275281 seconds[0m ×2 +407.05sINFOros2_control_node[2026-06-26 14:12:13.512] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +407.05sINFOros2_control_node[2026-06-26 14:12:13.515] [info] Controller state will be published at 10 Hz. ×2 +407.05sINFOros2_control_node[2026-06-26 14:12:13.516] [info] VelocityForceController 'on_configure' succeeded. ×2 +407.22sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +407.22sWARNobjective_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. +407.22sWARNobjective_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. +407.23sWARNobjective_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. +407.23sWARNobjective_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. +407.23sWARNobjective_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. +407.23sWARNobjective_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. +407.23sWARNobjective_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. +407.24sWARNobjective_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. +407.24sWARNobjective_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. +407.24sWARNobjective_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. +407.27sINFOcomponent_container_mtLoaded robot model in 0.428708 seconds[0m ×2 +407.41sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +407.41sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +407.41sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp +407.41sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 +407.44sINFOros2-16process has finished cleanly [pid 10275] ×2 +407.51sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +407.53sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +407.58sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +407.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783331 ms (missed cycles : 3). +407.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783331 ms (missed cycles : 3).[0m ×2 +407.73sWARNplanning_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. +407.73sWARNplanning_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. +407.73sWARNplanning_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. +407.73sWARNplanning_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. +407.73sWARNplanning_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. +407.73sWARNplanning_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. +407.73sWARNplanning_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. +407.73sWARNplanning_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. +407.74sWARNplanning_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. +407.74sWARNplanning_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. +407.74sWARNplanning_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. +407.74sWARNplanning_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. +407.74sWARNplanning_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. +407.74sWARNplanning_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. +407.74sWARNplanning_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. +407.74sWARNplanning_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. +407.74sWARNplanning_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. +407.74sWARNplanning_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. +407.74sWARNplanning_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. +407.74sWARNplanning_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. +407.75sWARNplanning_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. +407.75sWARNplanning_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. +407.75sWARNplanning_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. +407.75sWARNplanning_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. +407.75sWARNplanning_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. +407.75sWARNplanning_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. +407.75sWARNplanning_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. +407.75sWARNplanning_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. +407.90sINFOros2_control_node[2026-06-26 14:12:14.368] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +407.91sINFOros2_control_node[2026-06-26 14:12:14.371] [info] Controller state will be published at 10 Hz. ×2 +407.91sINFOros2_control_node[2026-06-26 14:12:14.372] [info] VelocityForceController 'on_configure' succeeded. ×2 +408.23sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +408.23sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +408.24sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp +408.24sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 +408.26sINFOros2-17process has finished cleanly [pid 10276] ×2 +408.31sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +408.31sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +408.32sINFOplatform_velocity_controller_nav2configure successful +408.37sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds +408.44sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers +408.44sINFOmove_groupMoveGroup debug mode is ON +408.58sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +408.59sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +408.59sINFOstreaming_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) +408.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757332 ms (missed cycles : 2). +408.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757332 ms (missed cycles : 2).[0m ×2 +408.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +408.70sINFOcontroller_managerLoading controller 'vacuum_gripper' +408.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp +408.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 +408.74sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +408.74sINFOros2-14process has finished cleanly [pid 10273] ×2 +408.78sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +408.79sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +408.79sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +408.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +408.80sINFOmove_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
********************************************************
+408.80sINFOcontroller_managerSuccessfully switched controllers! ×7 +408.80sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +409.24sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +409.24sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +409.30sINFOros2-13process has finished cleanly [pid 10272] ×2 +409.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp +409.35sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 +409.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +409.43sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +409.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847578 ms (missed cycles : 5). +409.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847578 ms (missed cycles : 5).[0m ×2 +410.03sINFOros2_control_node[2026-06-26 14:12:16.494] [info] Controller state will be published at 20 Hz. ×2 +410.03sINFOros2_control_node[2026-06-26 14:12:16.495] [info] JointVelocityController 'on_configure' succeeded. ×2 +410.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +410.35sINFOcontroller_managerLoading controller 'platform_velocity_controller' +410.35sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp +410.35sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 +410.40sINFOros2-19process has finished cleanly [pid 10278] ×2 +410.42sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +410.43sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +410.43sINFOplatform_velocity_controllerconfigure successful +410.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +410.44sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +410.74sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +410.75sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +410.75sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp +410.75sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 +410.79sINFOros2-12process has finished cleanly [pid 10271] ×2 +410.82sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +410.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +410.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +410.82sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +410.82sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +410.83sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +410.84sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +410.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355309 ms (missed cycles : 2). +410.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355309 ms (missed cycles : 2).[0m ×2 +411.20sINFOros2-11process has finished cleanly [pid 10270] ×2 +411.22sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +411.47sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +411.47sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +411.48sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp +411.48sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 +411.51sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +411.51sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +411.52sINFOforce_torque_sensor_broadcasterconfigure successful +411.52sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +411.53sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +411.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3). +411.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3).[0m ×2 +411.87sINFOros2-9process has finished cleanly [pid 10268] ×2 +411.88sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +412.14sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +412.14sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +412.14sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp +412.14sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 +412.21sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +412.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +412.22sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +412.22sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +412.22sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +412.22sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +412.23sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +412.61sINFOros2-15process has finished cleanly [pid 10274] ×2 +412.64sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +412.89sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +412.89sINFOcontroller_managerLoading controller 'joint_velocity_controller' +412.89sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp +412.89sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 +412.92sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +412.92sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +412.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). +412.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 +413.29sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 +413.29sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 +413.66sINFOros2-18process has finished cleanly [pid 10277] ×2 +413.67sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +413.67sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +413.67sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp +413.67sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 +413.73sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +413.75sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +413.76sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +413.76sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +413.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). +413.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 +414.09sINFOros2-10process has finished cleanly [pid 10269] ×2 +414.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 +414.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +414.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +414.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 +414.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). +414.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 +415.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 +415.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 +415.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 +415.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 +416.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). +416.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 +416.26sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +416.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 +416.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +416.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +416.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +416.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +416.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +416.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +416.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 +417.02sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 +417.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). +417.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 6 errors · 21 warnings · 246 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3).[0m ×2 + 0.40sINFOros2-9process has finished cleanly [pid 10268] ×2 + 0.41sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.67sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.67sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.67sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.67sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.67sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.74sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.74sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.75sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.75sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.75sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.75sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.75sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.75sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.75sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.75sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.75sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.75sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.76sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.76sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.14sINFOros2-15process has finished cleanly [pid 10274] ×2 + 1.17sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.42sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.42sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.42sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.42sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.42sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.42sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.45sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.45sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.45sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.45sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 1.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.47sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.82sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.82sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.19sINFOros2-18process has finished cleanly [pid 10277] ×2 + 2.20sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.20sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.20sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.20sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.20sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 2.20sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 2.26sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 2.27sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 2.28sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.28sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.29sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.29sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 2.29sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.62sINFOros2-10process has finished cleanly [pid 10269] ×2 + 3.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 3.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.04sINFOmove_groupClearing octomap...[0m ×2 + 3.04sINFOmove_groupOctomap cleared.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.79sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.98sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 5.55sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 6.33sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 6.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 6 errors · 30 warnings · 251 info |
+ 0.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.00sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.00sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.00sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.00sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355309 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355309 ms (missed cycles : 2).[0m ×2 + 0.39sINFOros2-11process has finished cleanly [pid 10270] ×2 + 0.40sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.40sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×6 + 0.65sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.65sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.65sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.66sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.66sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.66sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.69sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.69sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.70sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.70sINFOforce_torque_sensor_broadcasterconfigure successful + 0.70sINFOros2_control_nodeconfigure successful[0m ×2 + 0.70sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.71sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.71sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.71sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2-9process has finished cleanly [pid 10268] ×2 + 1.06sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.32sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.32sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.32sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.32sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.40sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.40sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.40sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.40sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.40sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.40sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.41sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.41sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.79sINFOros2-15process has finished cleanly [pid 10274] ×2 + 1.82sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.07sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.07sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 2.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 2.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 2.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.12sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.48sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 2.48sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.85sINFOros2-18process has finished cleanly [pid 10277] ×2 + 2.85sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.85sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.85sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.85sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.85sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 2.85sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 2.92sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 2.92sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 2.93sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.93sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.94sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.94sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 2.94sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 3.28sINFOros2-10process has finished cleanly [pid 10269] ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.70sINFOmove_groupClearing octomap...[0m ×2 + 3.70sINFOmove_groupOctomap cleared.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 5.44sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 5.59sINFOobjective_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 + 5.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 6.99sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 6.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 4 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-26-14-11-53-726115-8830ef5e8d27-10134 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 6 errors · 21 warnings · 228 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3).[0m ×2 + 0.40sINFOros2-9process has finished cleanly [pid 10268] ×2 + 0.41sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.67sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.67sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.67sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.67sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.67sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.74sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.74sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.75sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.75sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.75sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.75sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.75sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.75sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.75sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.75sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.75sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.75sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.76sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.76sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.14sINFOros2-15process has finished cleanly [pid 10274] ×2 + 1.17sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.42sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.42sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.42sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.42sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.42sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.42sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.45sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.45sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.45sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.45sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 1.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.47sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.82sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.82sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.19sINFOros2-18process has finished cleanly [pid 10277] ×2 + 2.20sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.20sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.20sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.20sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.20sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 2.20sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 2.26sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 2.27sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 2.28sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.28sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.29sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.29sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 2.29sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.62sINFOros2-10process has finished cleanly [pid 10269] ×2 + 3.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 3.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.04sINFOmove_groupClearing octomap...[0m ×2 + 3.04sINFOmove_groupOctomap cleared.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.79sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.98sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 5.55sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 6.33sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 6.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 247 info |
+ 0.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.00sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.00sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.00sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.00sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355309 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355309 ms (missed cycles : 2).[0m ×2 + 0.39sINFOros2-11process has finished cleanly [pid 10270] ×2 + 0.40sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.40sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×6 + 0.65sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.65sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.65sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.66sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.66sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.66sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.69sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.69sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.70sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.70sINFOforce_torque_sensor_broadcasterconfigure successful + 0.70sINFOros2_control_nodeconfigure successful[0m ×2 + 0.70sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.71sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.71sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.71sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2-9process has finished cleanly [pid 10268] ×2 + 1.06sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.32sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.32sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.32sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.32sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.40sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.40sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.40sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.40sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.40sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.40sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.41sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.41sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.79sINFOros2-15process has finished cleanly [pid 10274] ×2 + 1.82sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.07sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.07sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 2.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 2.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 2.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.12sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.48sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 2.48sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.85sINFOros2-18process has finished cleanly [pid 10277] ×2 + 2.85sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.85sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.85sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.85sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.85sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 2.85sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 2.92sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 2.92sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 2.93sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.93sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.94sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.94sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 2.94sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.28sINFOros2-10process has finished cleanly [pid 10269] ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.70sINFOmove_groupClearing octomap...[0m ×2 + 3.70sINFOmove_groupOctomap cleared.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 5.44sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 5.59sINFOobjective_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 + 5.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 247 info |
+ 0.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.00sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.00sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.00sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.00sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355309 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355309 ms (missed cycles : 2).[0m ×2 + 0.39sINFOros2-11process has finished cleanly [pid 10270] ×2 + 0.40sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.40sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×6 + 0.65sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.65sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.65sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.66sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.66sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.66sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.69sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.69sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.70sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.70sINFOforce_torque_sensor_broadcasterconfigure successful + 0.70sINFOros2_control_nodeconfigure successful[0m ×2 + 0.70sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.71sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.71sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.71sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2-9process has finished cleanly [pid 10268] ×2 + 1.06sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.32sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.32sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.32sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.32sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.40sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.40sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.40sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.40sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.40sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.40sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.41sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.41sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.79sINFOros2-15process has finished cleanly [pid 10274] ×2 + 1.82sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.07sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.07sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 2.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 2.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 2.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.12sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.48sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 2.48sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.85sINFOros2-18process has finished cleanly [pid 10277] ×2 + 2.85sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.85sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.85sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.85sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.85sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 2.85sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 2.92sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 2.92sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 2.93sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.93sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.94sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.94sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 2.94sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.28sINFOros2-10process has finished cleanly [pid 10269] ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.70sINFOmove_groupClearing octomap...[0m ×2 + 3.70sINFOmove_groupOctomap cleared.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 5.44sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 5.59sINFOobjective_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 + 5.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 247 info |
+ 0.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.00sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.00sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.00sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.00sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355309 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355309 ms (missed cycles : 2).[0m ×2 + 0.39sINFOros2-11process has finished cleanly [pid 10270] ×2 + 0.40sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.40sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×6 + 0.65sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.65sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.65sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.66sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.66sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.66sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.69sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.69sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.70sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.70sINFOforce_torque_sensor_broadcasterconfigure successful + 0.70sINFOros2_control_nodeconfigure successful[0m ×2 + 0.70sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.71sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.71sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.71sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054209 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2-9process has finished cleanly [pid 10268] ×2 + 1.06sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.32sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.32sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.32sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.32sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.40sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.40sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.40sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.40sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.40sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.40sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.41sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.41sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.79sINFOros2-15process has finished cleanly [pid 10274] ×2 + 1.82sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.07sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.07sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 2.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 2.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 2.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.12sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.48sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 2.48sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.85sINFOros2-18process has finished cleanly [pid 10277] ×2 + 2.85sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.85sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.85sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.85sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.85sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 2.85sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 2.92sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 2.92sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 2.93sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.93sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.94sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.94sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 2.94sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.28sINFOros2-10process has finished cleanly [pid 10269] ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.70sINFOmove_groupClearing octomap...[0m ×2 + 3.70sINFOmove_groupOctomap cleared.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 5.44sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 5.59sINFOobjective_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 + 5.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 6 errors · 24 warnings · 217 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959805 ms (missed cycles : 5). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959805 ms (missed cycles : 5).[0m ×2 + 7.38sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 7.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 6 errors · 18 warnings · 214 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.08sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOros2-15process has finished cleanly [pid 10274] ×2 + 0.50sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855079 ms (missed cycles : 6).[0m ×2 + 0.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.759] [info] Controller state will be published at 20 Hz. ×2 + 1.16sINFOros2_control_node[2026-06-26 14:12:19.760] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sINFOros2-18process has finished cleanly [pid 10277] ×2 + 1.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp + 1.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_olizaxuw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_txmoml1n --params-file /tmp/launch_params_qfd6infp [0m ×2 + 1.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.62sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992644 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.96sINFOros2-10process has finished cleanly [pid 10269] ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782483140.97713542 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782483140.98741436 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789162 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782483141.54646778 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782483141.55660820 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782483142.11575747 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782483142.26659751 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333007 ms (missed cycles : 6).[0m ×2 + 4.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782483142.85947585 seconds. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782483142.92962146 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782483143.49096012 seconds. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301311 ms (missed cycles : 2).[0m ×2 + 5.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782483144.27119088 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687743 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782483144.92876029 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||