68
Total objective tests
16
Objectives passed
1
Objectives failed
51
Objectives skipped
22.8s
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 | 1.2s | 6 errors · 24 warnings · 170 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.03sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.03sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.04sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.04sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.37sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.37sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.37sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.37sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.41sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.46sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.46sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 0.74sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.74sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.12sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.12sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.48sINFOros2-19process has finished cleanly [pid 10275] ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 3.79sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 4.96sERRORobjective_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 + 4.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 + 6.71sWARNobjective_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 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.96sINFOjoint_trajectory_controllerReceived new action goal + 6.96sINFOjoint_trajectory_controllerAccepted new action goal + 6.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543851 ms (missed cycles : 5). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543851 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 73.0s | 3 errors · 240 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888355 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888355 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359401 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359401 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102548 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102548 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020331 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020331 ms (missed cycles : 5).[0m ×2 + 3.65sINFOjoint_trajectory_controllerGot request to cancel goal + 3.65sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.66sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.66sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782492392.29363203 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110811 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110811 ms (missed cycles : 5).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782492392.84662437 seconds. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199884 ms (missed cycles : 7). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199884 ms (missed cycles : 7).[0m ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.86sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.86sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.86sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730167 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730167 ms (missed cycles : 4).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.026785 ms (missed cycles : 5). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.026785 ms (missed cycles : 5).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826876 ms (missed cycles : 4). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826876 ms (missed cycles : 4).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150529 ms (missed cycles : 5). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150529 ms (missed cycles : 5).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291734 ms (missed cycles : 2). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291734 ms (missed cycles : 2).[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036871 ms (missed cycles : 3). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036871 ms (missed cycles : 3).[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396176 ms (missed cycles : 3). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396176 ms (missed cycles : 3).[0m ×2 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728361 ms (missed cycles : 2). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728361 ms (missed cycles : 2).[0m ×2 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.503084 ms (missed cycles : 6). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.503084 ms (missed cycles : 6).[0m ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540788 ms (missed cycles : 3). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540788 ms (missed cycles : 3).[0m ×2 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.844078 ms (missed cycles : 6). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.844078 ms (missed cycles : 6).[0m ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474771 ms (missed cycles : 4). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474771 ms (missed cycles : 4).[0m ×2 + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189219 ms (missed cycles : 5). + 18.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189219 ms (missed cycles : 5).[0m ×2 + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.799146 ms (missed cycles : 5). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.799146 ms (missed cycles : 5).[0m ×2 + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282870 ms (missed cycles : 2). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282870 ms (missed cycles : 2).[0m ×2 + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.893864 ms (missed cycles : 8). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.893864 ms (missed cycles : 8).[0m ×2 + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508977 ms (missed cycles : 4). + 22.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508977 ms (missed cycles : 4).[0m ×2 + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835268 ms (missed cycles : 3). + 23.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835268 ms (missed cycles : 3).[0m ×2 + 24.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.903002 ms (missed cycles : 5). + 24.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.903002 ms (missed cycles : 5).[0m ×2 + 26.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200337 ms (missed cycles : 4). + 26.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200337 ms (missed cycles : 4).[0m ×2 + 27.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.772198 ms (missed cycles : 6). + 27.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.772198 ms (missed cycles : 6).[0m ×2 + 28.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148342 ms (missed cycles : 2). + 28.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148342 ms (missed cycles : 2).[0m ×2 + 29.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264928 ms (missed cycles : 4). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264928 ms (missed cycles : 4).[0m ×2 + 30.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669037 ms (missed cycles : 3). + 30.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669037 ms (missed cycles : 3).[0m ×2 + 31.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694713 ms (missed cycles : 5). + 31.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694713 ms (missed cycles : 5).[0m ×2 + 32.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.290881 ms (missed cycles : 5). + 32.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.290881 ms (missed cycles : 5).[0m ×2 + 33.14sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.14sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713954 ms (missed cycles : 3). + 33.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713954 ms (missed cycles : 3).[0m ×2 + 33.32sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.00sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×9 + 34.00sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 34.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061936 ms (missed cycles : 5). + 34.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061936 ms (missed cycles : 5).[0m ×2 + 35.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539332 ms (missed cycles : 3). + 35.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539332 ms (missed cycles : 3).[0m ×2 + 36.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616681 ms (missed cycles : 3). + 36.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616681 ms (missed cycles : 3).[0m ×2 + 37.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382468 ms (missed cycles : 4). + 37.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382468 ms (missed cycles : 4).[0m ×2 + 38.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.303077 ms (missed cycles : 4). + 38.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.303077 ms (missed cycles : 4).[0m ×2 + 39.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149857 ms (missed cycles : 2). + 39.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149857 ms (missed cycles : 2).[0m ×2 + 39.59sINFOros2_control_nodeMuJoCo sim: 1.03% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 40.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207511 ms (missed cycles : 2). + 40.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207511 ms (missed cycles : 2).[0m ×2 + 41.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426803 ms (missed cycles : 4). + 41.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426803 ms (missed cycles : 4).[0m ×2 + 42.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872222 ms (missed cycles : 4). + 42.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872222 ms (missed cycles : 4).[0m ×2 + 43.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323872 ms (missed cycles : 5). + 43.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323872 ms (missed cycles : 5).[0m ×2 + 44.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401149 ms (missed cycles : 3). + 44.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401149 ms (missed cycles : 3).[0m ×2 + 45.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079355 ms (missed cycles : 5). + 45.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079355 ms (missed cycles : 5).[0m ×2 + 46.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424439 ms (missed cycles : 4). + 46.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424439 ms (missed cycles : 4).[0m ×2 + 47.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185079 ms (missed cycles : 2). + 47.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185079 ms (missed cycles : 2).[0m ×2 + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877431 ms (missed cycles : 2). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877431 ms (missed cycles : 2).[0m ×2 + 49.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958405 ms (missed cycles : 5). + 49.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958405 ms (missed cycles : 5).[0m ×2 + 51.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914776 ms (missed cycles : 4). + 51.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914776 ms (missed cycles : 4).[0m ×2 + 51.26sINFOobjective_server_nodePlanning for 41 path waypoints. ×3 + 52.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268980 ms (missed cycles : 2). + 52.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268980 ms (missed cycles : 2).[0m ×2 + 53.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238221 ms (missed cycles : 7). + 53.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238221 ms (missed cycles : 7).[0m ×2 + 54.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527011 ms (missed cycles : 4). + 54.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527011 ms (missed cycles : 4).[0m ×2 + 55.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286167 ms (missed cycles : 4). + 55.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286167 ms (missed cycles : 4).[0m ×2 + 56.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512563 ms (missed cycles : 4). + 56.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512563 ms (missed cycles : 4).[0m ×2 + 57.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168407 ms (missed cycles : 7). + 57.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168407 ms (missed cycles : 7).[0m ×2 + 58.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997616 ms (missed cycles : 2). + 58.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997616 ms (missed cycles : 2).[0m ×2 + 59.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488403 ms (missed cycles : 3). + 59.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488403 ms (missed cycles : 3).[0m ×2 + 60.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730950 ms (missed cycles : 2). + 60.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730950 ms (missed cycles : 2).[0m ×2 + 61.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468926 ms (missed cycles : 5). + 61.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468926 ms (missed cycles : 5).[0m ×2 + 62.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129239 ms (missed cycles : 3). + 62.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129239 ms (missed cycles : 3).[0m ×2 + 63.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.569787 ms (missed cycles : 6). + 63.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.569787 ms (missed cycles : 6).[0m ×2 + 63.75sINFOobjective_server_nodePlanning for 28 path waypoints. ×3 + 64.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402726 ms (missed cycles : 4). + 64.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402726 ms (missed cycles : 4).[0m ×2 + 65.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965617 ms (missed cycles : 5). + 65.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965617 ms (missed cycles : 5).[0m ×2 + 66.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543503 ms (missed cycles : 3). + 66.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543503 ms (missed cycles : 3).[0m ×2 + 67.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298340 ms (missed cycles : 2). + 67.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298340 ms (missed cycles : 2).[0m ×2 + 68.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072171 ms (missed cycles : 2). + 68.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072171 ms (missed cycles : 2).[0m ×2 + 70.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107382 ms (missed cycles : 5). + 70.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107382 ms (missed cycles : 5).[0m ×2 + 71.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049975 ms (missed cycles : 2). + 71.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049975 ms (missed cycles : 2).[0m ×2 + 72.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513417 ms (missed cycles : 3). + 72.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513417 ms (missed cycles : 3).[0m ×2 + 73.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481788 ms (missed cycles : 4). + 73.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481788 ms (missed cycles : 4).[0m ×2 + 74.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3). + 74.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3).[0m ×2 + 75.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7). + 75.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7).[0m ×2 + 76.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3). + 76.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3).[0m ×2 + 76.72sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782492465.32680845 seconds ×3 + 77.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782492465.90036225 seconds. ×3 + 77.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2). + 77.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2).[0m ×2 + 77.71sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 78.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3). + 78.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3).[0m ×2 + 79.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3). + 79.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.9s | 186 warnings · 101 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782492232.65849090 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500038 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500038 ms (missed cycles : 3).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782492233.20975590 seconds. ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719470 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719470 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (2.9501e-05 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.58sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.58sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.58sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.58sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669700 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669700 ms (missed cycles : 2).[0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409731 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409731 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782492236.36990237 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782492236.91914797 seconds. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740366 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740366 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×4 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110726 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110726 ms (missed cycles : 5).[0m ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383318 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383318 ms (missed cycles : 3).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622267 ms (missed cycles : 4). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622267 ms (missed cycles : 4).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052634 ms (missed cycles : 4). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052634 ms (missed cycles : 4).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.682487 ms (missed cycles : 7). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.682487 ms (missed cycles : 7).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302957 ms (missed cycles : 4). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302957 ms (missed cycles : 4).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032432 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032432 ms (missed cycles : 2).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809840 ms (missed cycles : 2). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809840 ms (missed cycles : 2).[0m ×2 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563062 ms (missed cycles : 6). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563062 ms (missed cycles : 6).[0m ×2 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261327 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261327 ms (missed cycles : 2).[0m ×2 + 15.55sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944827 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944827 ms (missed cycles : 2).[0m ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207765 ms (missed cycles : 3). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207765 ms (missed cycles : 3).[0m ×2 + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270918 ms (missed cycles : 4). + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270918 ms (missed cycles : 4).[0m ×2 + 19.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011668 ms (missed cycles : 2). + 19.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011668 ms (missed cycles : 2).[0m ×2 + 20.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946620 ms (missed cycles : 3). + 20.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946620 ms (missed cycles : 3).[0m ×2 + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273147 ms (missed cycles : 2). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273147 ms (missed cycles : 2).[0m ×2 + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706553 ms (missed cycles : 6). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706553 ms (missed cycles : 6).[0m ×2 + 23.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209216 ms (missed cycles : 7). + 23.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209216 ms (missed cycles : 7).[0m ×2 + 24.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630925 ms (missed cycles : 4). + 24.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630925 ms (missed cycles : 4).[0m ×2 + 25.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.849896 ms (missed cycles : 6). + 25.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.849896 ms (missed cycles : 6).[0m ×2 + 26.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676740 ms (missed cycles : 2). + 26.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676740 ms (missed cycles : 2).[0m ×2 + 27.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110944 ms (missed cycles : 3). + 27.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110944 ms (missed cycles : 3).[0m ×2 + 28.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779900 ms (missed cycles : 2). + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779900 ms (missed cycles : 2).[0m ×2 + 29.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690202 ms (missed cycles : 2). + 29.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690202 ms (missed cycles : 2).[0m ×2 + 30.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535504 ms (missed cycles : 3). + 30.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535504 ms (missed cycles : 3).[0m ×2 + 31.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561065 ms (missed cycles : 2). + 31.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561065 ms (missed cycles : 2).[0m ×2 + 32.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813729 ms (missed cycles : 2). + 32.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813729 ms (missed cycles : 2).[0m ×2 + 33.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.463652 ms (missed cycles : 6). + 33.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.463652 ms (missed cycles : 6).[0m ×2 + 34.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914637 ms (missed cycles : 3). + 34.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914637 ms (missed cycles : 3).[0m ×2 + 34.99sWARNobjective_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 + 34.99sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.475259 ms (missed cycles : 5). + 36.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.475259 ms (missed cycles : 5).[0m ×2 + 37.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775892 ms (missed cycles : 3). + 37.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775892 ms (missed cycles : 3).[0m ×2 + 38.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991106 ms (missed cycles : 2). + 38.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991106 ms (missed cycles : 2).[0m ×2 + 39.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.336574 ms (missed cycles : 7). + 39.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.336574 ms (missed cycles : 7).[0m ×2 + 40.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.593313 ms (missed cycles : 6). + 40.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.593313 ms (missed cycles : 6).[0m ×2 + 41.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679848 ms (missed cycles : 2). + 41.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679848 ms (missed cycles : 2).[0m ×2 + 42.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.925951 ms (missed cycles : 8). + 42.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.925951 ms (missed cycles : 8).[0m ×2 + 43.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565327 ms (missed cycles : 3). + 43.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565327 ms (missed cycles : 3).[0m ×2 + 44.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997121 ms (missed cycles : 2). + 44.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997121 ms (missed cycles : 2).[0m ×2 + 45.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667995 ms (missed cycles : 3). + 45.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667995 ms (missed cycles : 3).[0m ×2 + 46.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360324 ms (missed cycles : 2). + 46.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360324 ms (missed cycles : 2).[0m ×2 + 47.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.038609 ms (missed cycles : 5). + 47.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.038609 ms (missed cycles : 5).[0m ×2 + 48.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.230326 ms (missed cycles : 7). + 48.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.230326 ms (missed cycles : 7).[0m ×2 + 49.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822683 ms (missed cycles : 5). + 49.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822683 ms (missed cycles : 5).[0m ×2 + 50.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.990305 ms (missed cycles : 8). + 50.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.990305 ms (missed cycles : 8).[0m ×2 + 51.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588864 ms (missed cycles : 4). + 51.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588864 ms (missed cycles : 4).[0m ×2 + 52.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020565 ms (missed cycles : 2). + 52.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020565 ms (missed cycles : 2).[0m ×2 + 53.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399129 ms (missed cycles : 4). + 53.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399129 ms (missed cycles : 4).[0m ×2 + 54.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201536 ms (missed cycles : 4). + 54.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201536 ms (missed cycles : 4).[0m ×2 + 55.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581854 ms (missed cycles : 3). + 55.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581854 ms (missed cycles : 3).[0m ×2 + 56.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536611 ms (missed cycles : 3). + 56.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536611 ms (missed cycles : 3).[0m ×2 + 57.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317430 ms (missed cycles : 4). + 57.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317430 ms (missed cycles : 4).[0m ×2 + 59.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811622 ms (missed cycles : 2). + 59.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811622 ms (missed cycles : 2).[0m ×2 + 60.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858207 ms (missed cycles : 2). + 60.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858207 ms (missed cycles : 2).[0m ×2 + 60.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782492293.23933339 seconds ×3 + 61.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939848 ms (missed cycles : 5). + 61.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939848 ms (missed cycles : 5).[0m ×2 + 61.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782492293.80097771 seconds. ×3 + 61.53sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.893770 ms (missed cycles : 7). + 62.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.893770 ms (missed cycles : 7).[0m ×2 + 63.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704864 ms (missed cycles : 2). + 63.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704864 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.6s | 183 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481788 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481788 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.47sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782492465.32680845 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.09sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782492465.90036225 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.18sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.18sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416546 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416546 ms (missed cycles : 2).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870218 ms (missed cycles : 5). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870218 ms (missed cycles : 5).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.396640 ms (missed cycles : 5). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.396640 ms (missed cycles : 5).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243278 ms (missed cycles : 5). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243278 ms (missed cycles : 5).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656098 ms (missed cycles : 3). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656098 ms (missed cycles : 3).[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.315768 ms (missed cycles : 6). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.315768 ms (missed cycles : 6).[0m ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688000 ms (missed cycles : 3). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688000 ms (missed cycles : 3).[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842262 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842262 ms (missed cycles : 2).[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416457 ms (missed cycles : 3). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416457 ms (missed cycles : 3).[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.099004 ms (missed cycles : 7). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.099004 ms (missed cycles : 7).[0m ×2 + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899814 ms (missed cycles : 2). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899814 ms (missed cycles : 2).[0m ×2 + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724273 ms (missed cycles : 3). + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724273 ms (missed cycles : 3).[0m ×2 + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201764 ms (missed cycles : 2). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201764 ms (missed cycles : 2).[0m ×2 + 21.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422215 ms (missed cycles : 2). + 21.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422215 ms (missed cycles : 2).[0m ×2 + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043271 ms (missed cycles : 2). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043271 ms (missed cycles : 2).[0m ×2 + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930343 ms (missed cycles : 3). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930343 ms (missed cycles : 3).[0m ×2 + 24.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537606 ms (missed cycles : 3). + 24.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537606 ms (missed cycles : 3).[0m ×2 + 25.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720270 ms (missed cycles : 6). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720270 ms (missed cycles : 6).[0m ×2 + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163735 ms (missed cycles : 2). + 26.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163735 ms (missed cycles : 2).[0m ×2 + 26.39sINFOros2_control_nodeMuJoCo sim: 1.07% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 27.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479190 ms (missed cycles : 3). + 27.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479190 ms (missed cycles : 3).[0m ×2 + 28.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215677 ms (missed cycles : 2). + 28.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215677 ms (missed cycles : 2).[0m ×2 + 29.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557726 ms (missed cycles : 4). + 29.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557726 ms (missed cycles : 4).[0m ×2 + 30.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623466 ms (missed cycles : 3). + 30.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623466 ms (missed cycles : 3).[0m ×2 + 31.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.323220 ms (missed cycles : 5). + 31.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.323220 ms (missed cycles : 5).[0m ×2 + 32.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018844 ms (missed cycles : 5). + 32.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018844 ms (missed cycles : 5).[0m ×2 + 33.34sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 33.34sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908908 ms (missed cycles : 2). + 33.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908908 ms (missed cycles : 2).[0m ×2 + 34.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150346 ms (missed cycles : 2). + 34.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150346 ms (missed cycles : 2).[0m ×2 + 35.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.818456 ms (missed cycles : 5). + 35.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.818456 ms (missed cycles : 5).[0m ×2 + 36.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565319 ms (missed cycles : 5). + 36.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565319 ms (missed cycles : 5).[0m ×2 + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786885 ms (missed cycles : 5). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786885 ms (missed cycles : 5).[0m ×2 + 38.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035466 ms (missed cycles : 4). + 38.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035466 ms (missed cycles : 4).[0m ×2 + 39.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.889640 ms (missed cycles : 6). + 39.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.889640 ms (missed cycles : 6).[0m ×2 + 40.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359915 ms (missed cycles : 3). + 40.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359915 ms (missed cycles : 3).[0m ×2 + 41.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314946 ms (missed cycles : 4). + 41.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314946 ms (missed cycles : 4).[0m ×2 + 42.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582308 ms (missed cycles : 3). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582308 ms (missed cycles : 3).[0m ×2 + 43.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876173 ms (missed cycles : 2). + 43.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876173 ms (missed cycles : 2).[0m ×2 + 44.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673061 ms (missed cycles : 2). + 44.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673061 ms (missed cycles : 2).[0m ×2 + 46.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146451 ms (missed cycles : 6). + 46.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146451 ms (missed cycles : 6).[0m ×2 + 47.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.988972 ms (missed cycles : 8). + 47.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.988972 ms (missed cycles : 8).[0m ×2 + 48.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209980 ms (missed cycles : 4). + 48.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209980 ms (missed cycles : 4).[0m ×2 + 49.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801456 ms (missed cycles : 5). + 49.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801456 ms (missed cycles : 5).[0m ×2 + 50.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.521135 ms (missed cycles : 6). + 50.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.521135 ms (missed cycles : 6).[0m ×2 + 51.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012697 ms (missed cycles : 2). + 51.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012697 ms (missed cycles : 2).[0m ×2 + 52.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559647 ms (missed cycles : 6). + 52.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559647 ms (missed cycles : 6).[0m ×2 + 53.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755337 ms (missed cycles : 2). + 53.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755337 ms (missed cycles : 2).[0m ×2 + 54.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404832 ms (missed cycles : 3). + 54.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404832 ms (missed cycles : 3).[0m ×2 + 55.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920727 ms (missed cycles : 2). + 55.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920727 ms (missed cycles : 2).[0m ×2 + 56.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070162 ms (missed cycles : 2). + 56.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070162 ms (missed cycles : 2).[0m ×2 + 57.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632974 ms (missed cycles : 6). + 57.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632974 ms (missed cycles : 6).[0m ×2 + 58.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900487 ms (missed cycles : 5). + 58.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900487 ms (missed cycles : 5).[0m ×2 + 59.15sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782492520.96053314 seconds ×3 + 59.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737891 ms (missed cycles : 5). + 59.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737891 ms (missed cycles : 5).[0m ×2 + 59.72sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782492521.53005600 seconds. ×3 + 60.08sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 60.10sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212257 ms (missed cycles : 5). + 60.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212257 ms (missed cycles : 5).[0m ×2 + 61.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683899 ms (missed cycles : 2). + 61.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683899 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 52.0s | 174 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680759 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680759 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937562 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937562 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788781 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788781 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885798 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885798 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.47sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.53sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782492329.63254118 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782492330.19244695 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219362 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219362 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (7.3e-07 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075816 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075816 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.71sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.71sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709404 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709404 ms (missed cycles : 5).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068625 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068625 ms (missed cycles : 2).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560415 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560415 ms (missed cycles : 3).[0m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373751 ms (missed cycles : 4). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373751 ms (missed cycles : 4).[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714853 ms (missed cycles : 2). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714853 ms (missed cycles : 2).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931234 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931234 ms (missed cycles : 2).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.839008 ms (missed cycles : 6). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.839008 ms (missed cycles : 6).[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310586 ms (missed cycles : 5). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310586 ms (missed cycles : 5).[0m ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193136 ms (missed cycles : 4). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193136 ms (missed cycles : 4).[0m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757959 ms (missed cycles : 2). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757959 ms (missed cycles : 2).[0m ×2 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928765 ms (missed cycles : 2). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928765 ms (missed cycles : 2).[0m ×2 + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856423 ms (missed cycles : 2). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856423 ms (missed cycles : 2).[0m ×2 + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192569 ms (missed cycles : 4). + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192569 ms (missed cycles : 4).[0m ×2 + 19.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810256 ms (missed cycles : 3). + 19.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810256 ms (missed cycles : 3).[0m ×2 + 20.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664465 ms (missed cycles : 3). + 20.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664465 ms (missed cycles : 3).[0m ×2 + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.580724 ms (missed cycles : 6). + 22.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.580724 ms (missed cycles : 6).[0m ×2 + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482475 ms (missed cycles : 3). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482475 ms (missed cycles : 3).[0m ×2 + 24.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134872 ms (missed cycles : 2). + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134872 ms (missed cycles : 2).[0m ×2 + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314752 ms (missed cycles : 4). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314752 ms (missed cycles : 4).[0m ×2 + 26.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965498 ms (missed cycles : 5). + 26.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965498 ms (missed cycles : 5).[0m ×2 + 27.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.526431 ms (missed cycles : 5). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.526431 ms (missed cycles : 5).[0m ×2 + 28.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054076 ms (missed cycles : 2). + 28.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054076 ms (missed cycles : 2).[0m ×2 + 29.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770717 ms (missed cycles : 5). + 29.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770717 ms (missed cycles : 5).[0m ×2 + 30.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145005 ms (missed cycles : 2). + 30.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145005 ms (missed cycles : 2).[0m ×2 + 31.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709778 ms (missed cycles : 2). + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709778 ms (missed cycles : 2).[0m ×2 + 32.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.849872 ms (missed cycles : 8). + 32.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.849872 ms (missed cycles : 8).[0m ×2 + 33.39sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 33.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.088906 ms (missed cycles : 5). + 33.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.088906 ms (missed cycles : 5).[0m ×2 + 34.01sWARNobjective_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 + 34.01sINFOobjective_server_nodePlanning for 46 path waypoints. ×3 + 34.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786570 ms (missed cycles : 2). + 34.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786570 ms (missed cycles : 2).[0m ×2 + 35.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490853 ms (missed cycles : 4). + 35.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490853 ms (missed cycles : 4).[0m ×2 + 36.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.516588 ms (missed cycles : 6). + 36.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.516588 ms (missed cycles : 6).[0m ×2 + 37.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167889 ms (missed cycles : 2). + 37.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167889 ms (missed cycles : 2).[0m ×2 + 38.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289402 ms (missed cycles : 2). + 38.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289402 ms (missed cycles : 2).[0m ×2 + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520969 ms (missed cycles : 2). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520969 ms (missed cycles : 2).[0m ×2 + 40.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902851 ms (missed cycles : 3). + 40.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902851 ms (missed cycles : 3).[0m ×2 + 41.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.994741 ms (missed cycles : 6). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.994741 ms (missed cycles : 6).[0m ×2 + 42.09sINFOros2_control_nodeMuJoCo sim: 0.87% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544801 ms (missed cycles : 2). + 42.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544801 ms (missed cycles : 2).[0m ×2 + 43.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.765286 ms (missed cycles : 6). + 43.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.765286 ms (missed cycles : 6).[0m ×2 + 44.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773343 ms (missed cycles : 3). + 44.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773343 ms (missed cycles : 3).[0m ×2 + 45.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.511393 ms (missed cycles : 9). + 45.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.511393 ms (missed cycles : 9).[0m ×2 + 46.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639869 ms (missed cycles : 3). + 46.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639869 ms (missed cycles : 3).[0m ×2 + 48.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547366 ms (missed cycles : 3). + 48.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547366 ms (missed cycles : 3).[0m ×2 + 49.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035357 ms (missed cycles : 4). + 49.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035357 ms (missed cycles : 4).[0m ×2 + 50.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415786 ms (missed cycles : 5). + 50.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415786 ms (missed cycles : 5).[0m ×2 + 51.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641859 ms (missed cycles : 6). + 51.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641859 ms (missed cycles : 6).[0m ×2 + 52.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940870 ms (missed cycles : 3). + 52.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940870 ms (missed cycles : 3).[0m ×2 + 53.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602469 ms (missed cycles : 3). + 53.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602469 ms (missed cycles : 3).[0m ×2 + 54.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483994 ms (missed cycles : 4). + 54.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483994 ms (missed cycles : 4).[0m ×2 + 55.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672228 ms (missed cycles : 2). + 55.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672228 ms (missed cycles : 2).[0m ×2 + 55.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782492381.59261894 seconds ×3 + 56.04sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782492382.14508343 seconds. ×3 + 56.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568027 ms (missed cycles : 4). + 56.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568027 ms (missed cycles : 4).[0m ×2 + 56.41sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 57.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021377 ms (missed cycles : 2). + 57.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021377 ms (missed cycles : 2).[0m ×2 + 57.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 58.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615785 ms (missed cycles : 2). + 58.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615785 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.2s | 6 errors · 144 warnings · 150 info |
+ 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.23sINFOros2-19process has finished cleanly [pid 10275] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 0.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.54sINFOmove_groupClearing octomap...[0m ×2 + 0.55sINFOmove_groupOctomap cleared.[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 1.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 1.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 1.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 1.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 2.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 2.42sINFOobjective_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 + 2.43sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.43sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 2.54sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 3.72sERRORobjective_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 + 3.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 + 5.46sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.71sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543851 ms (missed cycles : 5). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543851 ms (missed cycles : 5).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.587979 ms (missed cycles : 6). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.587979 ms (missed cycles : 6).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675949 ms (missed cycles : 6). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675949 ms (missed cycles : 6).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449986 ms (missed cycles : 4). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449986 ms (missed cycles : 4).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517536 ms (missed cycles : 3). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517536 ms (missed cycles : 3).[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504151 ms (missed cycles : 4). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504151 ms (missed cycles : 4).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748977 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748977 ms (missed cycles : 2).[0m ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.633761 ms (missed cycles : 6). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.633761 ms (missed cycles : 6).[0m ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344342 ms (missed cycles : 2). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344342 ms (missed cycles : 2).[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297103 ms (missed cycles : 4). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297103 ms (missed cycles : 4).[0m ×2 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759640 ms (missed cycles : 2). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759640 ms (missed cycles : 2).[0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498227 ms (missed cycles : 3). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498227 ms (missed cycles : 3).[0m ×2 + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.270595 ms (missed cycles : 7). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.270595 ms (missed cycles : 7).[0m ×2 + 19.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.885471 ms (missed cycles : 6). + 19.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.885471 ms (missed cycles : 6).[0m ×2 + 20.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078631 ms (missed cycles : 2). + 20.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078631 ms (missed cycles : 2).[0m ×2 + 21.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158496 ms (missed cycles : 2). + 21.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158496 ms (missed cycles : 2).[0m ×2 + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348517 ms (missed cycles : 2). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348517 ms (missed cycles : 2).[0m ×2 + 24.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514273 ms (missed cycles : 3). + 24.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514273 ms (missed cycles : 3).[0m ×2 + 25.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.188012 ms (missed cycles : 7). + 25.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.188012 ms (missed cycles : 7).[0m ×2 + 26.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691745 ms (missed cycles : 2). + 26.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691745 ms (missed cycles : 2).[0m ×2 + 27.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702729 ms (missed cycles : 3). + 27.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702729 ms (missed cycles : 3).[0m ×2 + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.635684 ms (missed cycles : 6). + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.635684 ms (missed cycles : 6).[0m ×2 + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.966306 ms (missed cycles : 5). + 29.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.966306 ms (missed cycles : 5).[0m ×2 + 30.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.183648 ms (missed cycles : 7). + 30.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.183648 ms (missed cycles : 7).[0m ×2 + 31.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583966 ms (missed cycles : 3). + 31.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583966 ms (missed cycles : 3).[0m ×2 + 32.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537313 ms (missed cycles : 3). + 32.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537313 ms (missed cycles : 3).[0m ×2 + 33.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635491 ms (missed cycles : 3). + 33.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635491 ms (missed cycles : 3).[0m ×2 + 34.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202172 ms (missed cycles : 4). + 34.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202172 ms (missed cycles : 4).[0m ×2 + 35.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110702 ms (missed cycles : 2). + 35.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110702 ms (missed cycles : 2).[0m ×2 + 36.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.853518 ms (missed cycles : 5). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.853518 ms (missed cycles : 5).[0m ×2 + 37.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624051 ms (missed cycles : 2). + 37.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624051 ms (missed cycles : 2).[0m ×2 + 38.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866989 ms (missed cycles : 3). + 38.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866989 ms (missed cycles : 3).[0m ×2 + 39.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792001 ms (missed cycles : 2). + 39.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792001 ms (missed cycles : 2).[0m ×2 + 41.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.593593 ms (missed cycles : 5). + 41.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.593593 ms (missed cycles : 5).[0m ×2 + 42.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231054 ms (missed cycles : 2). + 42.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231054 ms (missed cycles : 2).[0m ×2 + 43.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083630 ms (missed cycles : 2). + 43.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083630 ms (missed cycles : 2).[0m ×2 + 44.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733527 ms (missed cycles : 2). + 44.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733527 ms (missed cycles : 2).[0m ×2 + 45.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266844 ms (missed cycles : 4). + 45.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266844 ms (missed cycles : 4).[0m ×2 + 46.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840224 ms (missed cycles : 3). + 46.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840224 ms (missed cycles : 3).[0m ×2 + 47.00sINFOjoint_trajectory_controllerGoal reached, success! + 47.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782492232.65849090 seconds ×3 + 47.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500038 ms (missed cycles : 3). + 47.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500038 ms (missed cycles : 3).[0m ×2 + 47.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782492233.20975590 seconds. ×3 + 48.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719470 ms (missed cycles : 3). + 48.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719470 ms (missed cycles : 3).[0m ×2 + 48.55sINFOobjective_server_nodeFound path in 0 iterations (2.9501e-05 s). ×2 + 48.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669700 ms (missed cycles : 2). + 49.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669700 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.8s | 108 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704864 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704864 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137933 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137933 ms (missed cycles : 3).[0m ×2 + 1.96sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.96sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.98sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782492297.79115915 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.598796 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.598796 ms (missed cycles : 6).[0m ×2 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720430 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720430 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782492299.35166192 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 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083683 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083683 ms (missed cycles : 5).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.585819 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.585819 ms (missed cycles : 6).[0m ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.40sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.41sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660096 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660096 ms (missed cycles : 5).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767766 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767766 ms (missed cycles : 2).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268774 ms (missed cycles : 4). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268774 ms (missed cycles : 4).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391279 ms (missed cycles : 4). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391279 ms (missed cycles : 4).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.177147 ms (missed cycles : 5). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.177147 ms (missed cycles : 5).[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050445 ms (missed cycles : 3). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050445 ms (missed cycles : 3).[0m ×2 + 12.38sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028091 ms (missed cycles : 4). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028091 ms (missed cycles : 4).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.057554 ms (missed cycles : 5). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.057554 ms (missed cycles : 5).[0m ×2 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417551 ms (missed cycles : 5). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417551 ms (missed cycles : 5).[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945404 ms (missed cycles : 3). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945404 ms (missed cycles : 3).[0m ×2 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596926 ms (missed cycles : 3). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596926 ms (missed cycles : 3).[0m ×2 + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809062 ms (missed cycles : 3). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809062 ms (missed cycles : 3).[0m ×2 + 18.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329911 ms (missed cycles : 2). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329911 ms (missed cycles : 2).[0m ×2 + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765694 ms (missed cycles : 3). + 19.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765694 ms (missed cycles : 3).[0m ×2 + 20.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261265 ms (missed cycles : 4). + 20.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261265 ms (missed cycles : 4).[0m ×2 + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819989 ms (missed cycles : 2). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819989 ms (missed cycles : 2).[0m ×2 + 22.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778627 ms (missed cycles : 3). + 22.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778627 ms (missed cycles : 3).[0m ×2 + 23.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726091 ms (missed cycles : 2). + 23.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726091 ms (missed cycles : 2).[0m ×2 + 25.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567955 ms (missed cycles : 4). + 25.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567955 ms (missed cycles : 4).[0m ×2 + 26.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397439 ms (missed cycles : 3). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397439 ms (missed cycles : 3).[0m ×2 + 27.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444904 ms (missed cycles : 3). + 27.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444904 ms (missed cycles : 3).[0m ×2 + 28.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934355 ms (missed cycles : 2). + 28.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934355 ms (missed cycles : 2).[0m ×2 + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725043 ms (missed cycles : 2). + 29.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725043 ms (missed cycles : 2).[0m ×2 + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680759 ms (missed cycles : 2). + 30.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680759 ms (missed cycles : 2).[0m ×2 + 31.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937562 ms (missed cycles : 5). + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937562 ms (missed cycles : 5).[0m ×2 + 32.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788781 ms (missed cycles : 2). + 32.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788781 ms (missed cycles : 2).[0m ×2 + 33.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885798 ms (missed cycles : 3). + 33.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885798 ms (missed cycles : 3).[0m ×2 + 33.82sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782492329.63254118 seconds ×3 + 34.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782492330.19244695 seconds. ×3 + 34.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219362 ms (missed cycles : 4). + 34.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219362 ms (missed cycles : 4).[0m ×2 + 34.72sINFOobjective_server_nodeFound path in 0 iterations (7.3e-07 s). ×2 + 35.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075816 ms (missed cycles : 2). + 35.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075816 ms (missed cycles : 2).[0m ×2 + 35.96sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709404 ms (missed cycles : 5). + 36.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709404 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.0s | 58 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920727 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920727 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070162 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070162 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632974 ms (missed cycles : 6). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632974 ms (missed cycles : 6).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900487 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900487 ms (missed cycles : 5).[0m ×2 + 3.83sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.84sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782492520.96053314 seconds ×3 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737891 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737891 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782492521.53005600 seconds. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×4 + 4.85sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.86sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.86sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.86sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.86sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212257 ms (missed cycles : 5). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212257 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683899 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683899 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937008 ms (missed cycles : 5). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937008 ms (missed cycles : 5).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871416 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871416 ms (missed cycles : 2).[0m ×2 + 9.13sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 9.16sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.19sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 9.22sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.26sINFOobjective_server_nodeFound path in 0 iterations (7.8e-07 s). ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694460 ms (missed cycles : 2). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694460 ms (missed cycles : 2).[0m ×2 + 9.31sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.35sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 9.48sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.52sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 9.72sINFOobjective_server_nodeFound path in 31 iterations (0.021922 s). ×2 + 10.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X______X] ×2 + 10.09sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747719 ms (missed cycles : 4). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747719 ms (missed cycles : 4).[0m ×2 + 10.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.84sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.88sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186969 ms (missed cycles : 2). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186969 ms (missed cycles : 2).[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.024056 ms (missed cycles : 7). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.024056 ms (missed cycles : 7).[0m ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040121 ms (missed cycles : 2). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040121 ms (missed cycles : 2).[0m ×2 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407778 ms (missed cycles : 3). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407778 ms (missed cycles : 3).[0m ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042662 ms (missed cycles : 3). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042662 ms (missed cycles : 3).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640617 ms (missed cycles : 6). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640617 ms (missed cycles : 6).[0m ×2 + 16.88sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782492533.94513845 seconds ×3 + 17.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782492534.53437448 seconds. ×3 + 17.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.47sINFOmove_groupClearing octomap...[0m ×2 + 17.47sINFOmove_groupOctomap cleared.[0m ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666412 ms (missed cycles : 3). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666412 ms (missed cycles : 3).[0m ×2 + 18.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782492535.16570401 seconds ×3 + 18.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543786 ms (missed cycles : 3). + 18.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543786 ms (missed cycles : 3).[0m ×2 + 18.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782492535.71850157 seconds. ×3 + 19.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782492536.18866062 seconds ×3 + 19.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317841 ms (missed cycles : 2). | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.8s | 66 errors · 33 warnings · 359 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407778 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407778 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042662 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042662 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640617 ms (missed cycles : 6). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640617 ms (missed cycles : 6).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! + 2.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782492533.94513845 seconds ×3 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782492534.53437448 seconds. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.91sINFOmove_groupClearing octomap...[0m ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666412 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666412 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782492535.16570401 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543786 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543786 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782492535.71850157 seconds. ×3 + 4.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782492536.18866062 seconds ×3 + 4.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317841 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317841 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625898 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625898 ms (missed cycles : 3).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387217 ms (missed cycles : 4). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387217 ms (missed cycles : 4).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309857 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309857 ms (missed cycles : 2).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339271 ms (missed cycles : 3). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339271 ms (missed cycles : 3).[0m ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577813 ms (missed cycles : 3). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577813 ms (missed cycles : 3).[0m ×2 + 10.42sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 10.45sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 10.48sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 10.55sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.55sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 10.57sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 10.59sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.61sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 10.63sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 10.65sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 10.68sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 10.70sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 10.71sINFOweb_video_server-31process has finished cleanly [pid 10346] ×2 + 10.72sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 10.73sINFOtf2_web_republisher_node-30process has finished cleanly [pid 10343] ×2 + 10.75sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 10.75sINFOcontroller_managerShutdown request received.... + 10.75sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.75sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.75sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.75sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.75sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.75sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.75sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.76sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.76sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.76sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.76sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.76sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.76sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.76sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.76sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.76sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.76sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.76sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.76sINFOcontroller_managerShutting down the controller manager. + 10.77sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.79sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.81sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.83sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.85sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.85sERRORui_teleop_bridge-28process has died [pid 10341, 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_qtzjsdjq']. ×2 + 10.87sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.89sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.89sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.89sINFOmap_serverDeactivating + 10.89sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.89sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.89sERRORobjective_server_node_main-25process has died [pid 10338, 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_mbjep5_v --params-file /tmp/launch_params_mkxa2k9r --params-file /tmp/launch_params_dp9nc_gk --params-file /tmp/launch_params_r0iu5g9x --params-file /tmp/launch_params_udgmy96y --params-file /tmp/launch_params_zakn4_sj --params-file /tmp/launch_params_g6rtiubb --params-file /tmp/launch_params_n0bho9p3 --params-file /tmp/launch_params_u_c35p99']. ×2 + 10.89sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.89sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.89sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.89sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.89sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 10.89sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.89sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.89sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.89sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.89sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.89sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.89sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.89sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.89sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.89sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.89sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.90sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.90sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.90sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.90sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.90sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 10.90sINFOmap_serverCleaning up + 10.90sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.90sINFOcontroller_serverCleaning up + 10.90sINFOlocal_costmap.local_costmapCleaning up + 10.90sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.90sINFOobjective_server_node[2026-06-26 16:49:02.349] [moveit_pro_license] [info] ×2 + 10.90sINFOobjective_server_node************************************************* ×4 + 10.90sINFOobjective_server_node* MoveIt Pro License ×2 + 10.90sINFOobjective_server_node* Application has successfully terminated ×2 + 10.90sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.90sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.90sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.90sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.90sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.90sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.90sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.90sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.90sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.90sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.90sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.90sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.90sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.90sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.90sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.90sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.91sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.91sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.91sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55acbabe96a4, in _start ×2 + 10.91sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f006c9c528a, in __libc_start_main ×2 + 10.91sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f006c9c51d0, in ×2 + 10.91sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f006c9e2bbd, in exit ×2 + 10.91sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f006c9e2a75, in ×2 + 10.91sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f006ceb44a2, in spdlog::details::registry::~registry() ×2 + 10.91sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f006cebf69d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 10.91sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f006ceb9965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.91sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55acbabf0315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.91sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55acbabef5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.91sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55acbabebb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.91sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55acbabe9d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.91sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f006d55b454, in rclcpp::Node::~Node() ×2 + 10.91sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f006d516515, in ×2 + 10.91sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f006d559d20, in ×2 + 10.91sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f006d559c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.91sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f006d5165d9, in ×2 + 10.91sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f006d51b161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.91sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f0018c9e120]) ×2 + 10.91sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.91sINFOmove_groupDeleting MoveItCpp[0m ×2 + 10.91sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.91sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.91sINFOodom_qos_relay.pymain() ×2 + 10.91sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.91sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.91sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.91sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.91sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.91sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.91sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.91sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.91sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.91sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.91sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.91sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.92sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 10.92sINFOmove_groupStopping world geometry monitor[0m ×2 + 10.92sINFOmove_groupStopping planning scene monitor[0m ×2 + 10.92sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 10.92sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.94sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.94sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.94sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.96sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.96sINFOsmoother_serverCleaning up + 10.97sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.97sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.97sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.97sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.97sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.97sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.97sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.97sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.97sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.97sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.97sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.97sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.97sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.97sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.97sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.42sERRORcomponent_container_isolated-1process has died [pid 10180, 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_4erim2j3 --params-file /tmp/launch_params_qffrnqgv -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.69sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 10337] ×2 + 11.69sINFOexecute_objective_bridge-27process has finished cleanly [pid 10340] ×2 + 11.71sINFOmove_joint_resampler_node-23process has finished cleanly [pid 10279] ×2 + 11.76sINFOparameter_manager_node-21process has finished cleanly [pid 10277] ×2 + 11.78sINFOwaypoint_manager_node-22process has finished cleanly [pid 10278] ×2 + 11.82sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 10186] ×2 + 11.84sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10185] ×2 + 11.87sINFOstatic_transform_publisher-4process has finished cleanly [pid 10183] ×2 + 11.89sINFOcomponent_container_mt-26process has finished cleanly [pid 10339] ×2 + 11.90sINFOstatic_transform_publisher-3process has finished cleanly [pid 10182] ×2 + 11.91sINFOstatic_transform_publisher-2process has finished cleanly [pid 10181] ×2 + 11.91sERRORodom_qos_relay.py-5process has died [pid 10184, 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 + 11.94sINFOmove_group-20process has finished cleanly [pid 10276] ×2 + 12.58sINFOros2_control_node-8process has finished cleanly [pid 10187] ×2 + 13.22sINFOweb_bridge-29process has finished cleanly [pid 10342] ×2 + 13.22sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 3 errors · 51 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940870 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940870 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602469 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602469 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483994 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483994 ms (missed cycles : 4).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672228 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672228 ms (missed cycles : 2).[0m ×2 + 3.32sINFOjoint_trajectory_controllerGoal reached, success! + 3.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782492381.59261894 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.90sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782492382.14508343 seconds. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568027 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568027 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021377 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021377 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615785 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615785 ms (missed cycles : 2).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102417 ms (missed cycles : 5). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102417 ms (missed cycles : 5).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895635 ms (missed cycles : 5). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895635 ms (missed cycles : 5).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374681 ms (missed cycles : 3). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374681 ms (missed cycles : 3).[0m ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888355 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888355 ms (missed cycles : 3).[0m ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359401 ms (missed cycles : 4). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359401 ms (missed cycles : 4).[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102548 ms (missed cycles : 2). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102548 ms (missed cycles : 2).[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020331 ms (missed cycles : 5). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020331 ms (missed cycles : 5).[0m ×2 + 14.02sINFOjoint_trajectory_controllerGot request to cancel goal + 14.02sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.02sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.02sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782492392.29363203 seconds ×3 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110811 ms (missed cycles : 5). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110811 ms (missed cycles : 5).[0m ×2 + 14.60sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782492392.84662437 seconds. ×3 + 14.97sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199884 ms (missed cycles : 7). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199884 ms (missed cycles : 7).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730167 ms (missed cycles : 4). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730167 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.5s | 36 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536611 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317430 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317430 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811622 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811622 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858207 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858207 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.66sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782492293.23933339 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 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939848 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939848 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782492293.80097771 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 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.64sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.64sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.893770 ms (missed cycles : 7). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.893770 ms (missed cycles : 7).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704864 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704864 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137933 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137933 ms (missed cycles : 3).[0m ×2 + 8.24sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782492297.79115915 seconds ×3 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.598796 ms (missed cycles : 6). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.598796 ms (missed cycles : 6).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720430 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720430 ms (missed cycles : 2).[0m ×2 + 9.80sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782492299.35166192 seconds. ×3 + 10.16sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083683 ms (missed cycles : 5). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083683 ms (missed cycles : 5).[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.585819 ms (missed cycles : 6). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.585819 ms (missed cycles : 6).[0m ×2 + 11.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.7s | 30 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733527 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733527 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266844 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266844 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840224 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840224 ms (missed cycles : 3).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.87sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782492232.65849090 seconds ×3 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_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 3.500038 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500038 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782492233.20975590 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719470 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719470 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.9501e-05 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.45sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.45sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.45sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669700 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669700 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409731 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409731 ms (missed cycles : 3).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782492236.36990237 seconds ×3 + 7.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782492236.91914797 seconds. ×3 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740366 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740366 ms (missed cycles : 2).[0m ×2 + 7.51sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110726 ms (missed cycles : 5). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110726 ms (missed cycles : 5).[0m ×2 + 9.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383318 ms (missed cycles : 3). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383318 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 24 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040121 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040121 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407778 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407778 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042662 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042662 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640617 ms (missed cycles : 6). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640617 ms (missed cycles : 6).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782492533.94513845 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782492534.53437448 seconds. ×3 + 3.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.98sINFOmove_groupClearing octomap...[0m ×2 + 3.98sINFOmove_groupOctomap cleared.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666412 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666412 ms (missed cycles : 3).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782492535.16570401 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543786 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543786 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782492535.71850157 seconds. ×3 + 5.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782492536.18866062 seconds ×3 + 5.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317841 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317841 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625898 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625898 ms (missed cycles : 3).[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 1.733527 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733527 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266844 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266844 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840224 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840224 ms (missed cycles : 3).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782492232.65849090 seconds ×3 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500038 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500038 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782492233.20975590 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719470 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719470 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.9501e-05 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669700 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669700 ms (missed cycles : 2).[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 1.733527 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733527 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266844 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266844 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840224 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840224 ms (missed cycles : 3).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782492232.65849090 seconds ×3 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500038 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500038 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782492233.20975590 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719470 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719470 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.9501e-05 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669700 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669700 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 6 errors · 18 warnings · 192 info |
+ 0.00sINFOros2-9process has finished cleanly [pid 10265] ×2 + 0.01sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.40sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.40sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.41sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508344 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508344 ms (missed cycles : 4).[0m ×2 + 0.76sINFOros2_control_node[2026-06-26 16:43:03.254] [info] Controller state will be published at 20 Hz. ×2 + 0.76sINFOros2_control_node[2026-06-26 16:43:03.255] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.10sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.10sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.10sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 1.10sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.10sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.10sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 1.13sINFOros2-18process has finished cleanly [pid 10274] ×2 + 1.17sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.17sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.18sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.19sINFOplatform_velocity_controller_nav2configure successful + 1.19sINFOros2_control_nodeconfigure successful[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 1.61sINFOros2-14process has finished cleanly [pid 10270] ×2 + 1.64sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.89sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.89sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.89sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.90sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 1.90sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 1.92sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.92sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.92sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.92sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.93sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 1.93sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 1.93sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.93sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.27sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.27sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 2.27sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.27sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 2.30sINFOros2-10process has finished cleanly [pid 10266] ×2 + 2.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 2.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.37sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 3.01sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 3.01sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.37sINFOros2-19process has finished cleanly [pid 10275] ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.69sINFOmove_groupClearing octomap...[0m ×2 + 3.69sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 5.68sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 6.86sERRORobjective_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 + 6.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 | ||||
| − 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 5.481788 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481788 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782492465.32680845 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782492465.90036225 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481788 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481788 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782492465.32680845 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782492465.90036225 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 6 errors · 18 warnings · 192 info |
+ 0.00sINFOros2-9process has finished cleanly [pid 10265] ×2 + 0.01sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.40sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.40sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.41sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508344 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508344 ms (missed cycles : 4).[0m ×2 + 0.76sINFOros2_control_node[2026-06-26 16:43:03.254] [info] Controller state will be published at 20 Hz. ×2 + 0.76sINFOros2_control_node[2026-06-26 16:43:03.255] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.10sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.10sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.10sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 1.10sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.10sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.10sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 1.13sINFOros2-18process has finished cleanly [pid 10274] ×2 + 1.17sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.17sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.18sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.19sINFOplatform_velocity_controller_nav2configure successful + 1.19sINFOros2_control_nodeconfigure successful[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 1.61sINFOros2-14process has finished cleanly [pid 10270] ×2 + 1.64sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.89sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.89sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.89sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.90sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 1.90sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 1.92sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.92sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.92sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.92sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.93sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 1.93sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 1.93sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.93sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.27sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.27sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 2.27sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.27sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 2.30sINFOros2-10process has finished cleanly [pid 10266] ×2 + 2.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 2.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.37sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 3.01sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 3.01sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.37sINFOros2-19process has finished cleanly [pid 10275] ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.69sINFOmove_groupClearing octomap...[0m ×2 + 3.69sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 5.68sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 6.86sERRORobjective_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 + 6.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 | ||||
| − 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 5.481788 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481788 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782492465.32680845 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782492465.90036225 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481788 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481788 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782492465.32680845 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782492465.90036225 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481788 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481788 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782492465.32680845 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782492465.90036225 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481788 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481788 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782492465.32680845 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782492465.90036225 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481788 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481788 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782492465.32680845 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782492465.90036225 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481788 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481788 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705124 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.341963 ms (missed cycles : 7).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667273 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782492465.32680845 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782492465.90036225 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142239 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642280 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735072 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 58 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782492232.65849090 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500038 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500038 ms (missed cycles : 3).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782492233.20975590 seconds. ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719470 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719470 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (2.9501e-05 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.58sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.58sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.58sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669700 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669700 ms (missed cycles : 2).[0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409731 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409731 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782492236.36990237 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782492236.91914797 seconds. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740366 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740366 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110726 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110726 ms (missed cycles : 5).[0m ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383318 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536611 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317430 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317430 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811622 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811622 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858207 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858207 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782492293.23933339 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 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939848 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939848 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782492293.80097771 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 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal + 4.64sINFOjoint_trajectory_controllerAccepted new action goal + 4.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.893770 ms (missed cycles : 7). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.893770 ms (missed cycles : 7).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704864 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704864 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536611 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317430 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317430 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811622 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811622 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858207 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858207 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782492293.23933339 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 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939848 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939848 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782492293.80097771 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 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal + 4.64sINFOjoint_trajectory_controllerAccepted new action goal + 4.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.893770 ms (missed cycles : 7). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.893770 ms (missed cycles : 7).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704864 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704864 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536611 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317430 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317430 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811622 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811622 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858207 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858207 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782492293.23933339 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 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939848 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939848 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782492293.80097771 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 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal + 4.64sINFOjoint_trajectory_controllerAccepted new action goal + 4.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.893770 ms (missed cycles : 7). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.893770 ms (missed cycles : 7).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704864 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704864 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536611 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317430 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317430 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811622 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811622 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858207 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858207 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782492293.23933339 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 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939848 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939848 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782492293.80097771 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 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal + 4.64sINFOjoint_trajectory_controllerAccepted new action goal + 4.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.893770 ms (missed cycles : 7). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.893770 ms (missed cycles : 7).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704864 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704864 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536611 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317430 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317430 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811622 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811622 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858207 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858207 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782492293.23933339 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 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939848 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939848 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782492293.80097771 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 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal + 4.64sINFOjoint_trajectory_controllerAccepted new action goal + 4.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.893770 ms (missed cycles : 7). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.893770 ms (missed cycles : 7).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704864 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704864 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680759 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680759 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937562 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937562 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788781 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788781 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885798 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885798 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782492329.63254118 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782492330.19244695 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219362 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219362 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (7.3e-07 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075816 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075816 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709404 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709404 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680759 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680759 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937562 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937562 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788781 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788781 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885798 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885798 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782492329.63254118 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782492330.19244695 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219362 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219362 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (7.3e-07 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075816 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075816 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709404 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709404 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680759 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680759 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937562 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937562 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788781 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788781 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885798 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885798 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782492329.63254118 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782492330.19244695 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219362 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219362 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (7.3e-07 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075816 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075816 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709404 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709404 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 6 errors · 18 warnings · 192 info |
+ 0.00sINFOros2-9process has finished cleanly [pid 10265] ×2 + 0.01sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.40sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.40sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.41sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508344 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508344 ms (missed cycles : 4).[0m ×2 + 0.76sINFOros2_control_node[2026-06-26 16:43:03.254] [info] Controller state will be published at 20 Hz. ×2 + 0.76sINFOros2_control_node[2026-06-26 16:43:03.255] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.10sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.10sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.10sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 1.10sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.10sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.10sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 1.13sINFOros2-18process has finished cleanly [pid 10274] ×2 + 1.17sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.17sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.18sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.19sINFOplatform_velocity_controller_nav2configure successful + 1.19sINFOros2_control_nodeconfigure successful[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 1.61sINFOros2-14process has finished cleanly [pid 10270] ×2 + 1.64sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.89sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.89sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.89sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.90sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 1.90sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 1.92sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.92sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.92sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.92sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.93sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 1.93sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 1.93sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.93sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.27sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.27sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 2.27sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.27sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 2.30sINFOros2-10process has finished cleanly [pid 10266] ×2 + 2.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 2.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.37sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 3.01sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 3.01sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.37sINFOros2-19process has finished cleanly [pid 10275] ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.69sINFOmove_groupClearing octomap...[0m ×2 + 3.69sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 5.68sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 6.86sERRORobjective_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 + 6.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 19 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040121 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040121 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407778 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407778 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042662 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042662 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640617 ms (missed cycles : 6). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640617 ms (missed cycles : 6).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782492533.94513845 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782492534.53437448 seconds. ×3 + 3.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.98sINFOmove_groupClearing octomap...[0m ×2 + 3.98sINFOmove_groupOctomap cleared.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666412 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666412 ms (missed cycles : 3).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782492535.16570401 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543786 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543786 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782492535.71850157 seconds. ×3 + 5.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782492536.18866062 seconds ×3 + 5.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317841 ms (missed cycles : 2). | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[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 · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 27.3s | 66 errors · 748 warnings · 1770 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/2026-06-26-16-36-08-922127-8af6ecddb5fd-9094 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 13.42sINFOros2_control_node-8process started with pid [9150] + 13.42sINFOmove_group-20process started with pid [9239] + 13.42sINFOparameter_manager_node-21process started with pid [9240] + 13.42sINFOwaypoint_manager_node-22process started with pid [9241] + 13.42sINFOmove_joint_resampler_node-23process started with pid [9242] + 13.42sINFOmove_end_effector_resampler_node-24process started with pid [9300] + 13.42sINFOobjective_server_node_main-25process started with pid [9301] + 13.42sINFOcomponent_container_mt-26process started with pid [9302] + 13.42sINFOexecute_objective_bridge-27process started with pid [9303] + 13.42sINFOui_teleop_bridge-28process started with pid [9304] + 13.42sINFOweb_bridge-29process started with pid [9305] + 13.42sINFOtf2_web_republisher_node-30process started with pid [9306] + 13.42sINFOweb_video_server-31process started with pid [9307] + 13.43sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 13.43sINFOcomponent_container_isolated-1process started with pid [9143] + 13.43sINFOstatic_transform_publisher-2process started with pid [9144] + 13.43sINFOstatic_transform_publisher-3process started with pid [9145] + 13.43sINFOstatic_transform_publisher-4process started with pid [9146] + 13.45sINFOodom_qos_relay.py-5process started with pid [9147] + 13.45sINFOscan_to_scan_filter_chain-6process started with pid [9148] + 13.45sINFOscan_to_scan_filter_chain-7process started with pid [9149] + 13.45sINFOros2-9process started with pid [9227] + 13.45sINFOros2-10process started with pid [9229] + 13.45sINFOros2-11process started with pid [9230] + 13.45sINFOros2-12process started with pid [9231] + 13.45sINFOros2-13process started with pid [9232] + 13.45sINFOros2-14process started with pid [9233] + 13.45sINFOros2-15process started with pid [9234] + 13.45sINFOros2-16process started with pid [9235] + 13.45sINFOros2-17process started with pid [9236] + 13.45sINFOros2-18process started with pid [9237] + 13.45sINFOros2-19process started with pid [9238] + 13.50sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×9 + 13.50sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×9 + 13.50sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×9 + 13.50sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×9 + 13.50sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 13.51sINFOstatic_transform_publisherfrom 'mj_world' to 'world'[0m ×3 + 13.51sINFOstatic_transform_publisherfrom 'map' to 'odom'[0m ×3 + 13.51sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 13.51sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 13.51sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 13.51sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 13.51sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 13.51sWARNros2_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 + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.013552 ms (missed cycles : 10).[0m + 13.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 13.64sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 13.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.67sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 13.74sINFOcomponent_container_mtRobot initialized[0m ×3 + 13.74sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 13.74sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 13.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 13.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 13.78sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 13.78sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 13.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 13.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.85sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 13.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 13.91sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 13.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 14.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 14.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 14.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 14.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 14.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 14.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 14.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 14.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 14.17sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 14.17sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 14.17sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 14.17sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×3 + 14.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 14.20sWARNscan_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 + 14.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 14.22sINFOmove_groupLoaded robot model in 0.585745 seconds[0m + 14.23sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 14.23sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238161 ms (missed cycles : 2).[0m + 15.01sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 15.01sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 15.07sINFOwaypoint_manager_nodeLoaded robot model in 0.489183 seconds[0m + 15.07sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 15.07sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 15.10sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×14 + 15.15sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 15.16sWARNmove_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 + 15.16sWARNmove_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 + 15.16sWARNmove_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 + 15.16sWARNmove_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 + 15.16sWARNmove_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 + 15.16sWARNmove_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 + 15.16sWARNmove_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 + 15.17sWARNmove_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 + 15.17sWARNmove_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 + 15.17sWARNmove_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 + 15.50sWARNwaypoint_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 + 15.50sWARNwaypoint_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 + 15.51sWARNwaypoint_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 + 15.51sWARNwaypoint_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 + 15.51sWARNwaypoint_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 + 15.51sWARNwaypoint_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 + 15.52sWARNwaypoint_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 + 15.52sWARNwaypoint_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 + 15.52sWARNwaypoint_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 + 15.52sWARNwaypoint_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 + 15.52sWARNwaypoint_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 + 15.52sWARNwaypoint_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 + 15.53sWARNwaypoint_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 + 15.53sWARNwaypoint_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 + 15.53sWARNwaypoint_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 + 15.53sWARNwaypoint_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 + 15.53sWARNwaypoint_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 + 15.53sWARNwaypoint_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 + 15.54sWARNwaypoint_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 + 15.54sWARNwaypoint_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 + 15.54sWARNwaypoint_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 + 15.54sWARNwaypoint_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 + 15.54sWARNwaypoint_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 + 15.54sWARNwaypoint_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 + 15.55sWARNwaypoint_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 + 15.55sWARNwaypoint_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 + 15.55sWARNwaypoint_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 + 15.55sWARNwaypoint_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 + 15.69sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 15.70sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 15.70sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 15.70sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.70sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 15.70sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 15.70sINFOmove_groupStarting planning scene monitor[0m ×3 + 15.70sINFOmove_groupListening to '/planning_scene'[0m ×3 + 15.70sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 15.70sINFOmove_groupListening to 'collision_object'[0m ×3 + 15.70sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 15.95sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 15.95sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.95sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 15.95sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 15.96sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 15.96sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 15.96sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 15.96sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 15.96sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 15.96sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 15.96sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 15.96sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 15.96sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 15.96sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 15.96sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 15.96sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 15.96sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 15.96sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 15.96sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 15.96sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 15.96sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 15.96sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 15.99sWARNros2_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 + 16.11sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 16.11sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 16.11sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_s4rc697n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wxyy9zlg --params-file /tmp/launch_params_xdlgcqv0 [0m + 16.14sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 16.14sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 16.14sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 16.14sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 16.14sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 16.15sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 16.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 16.16sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287262 ms (missed cycles : 2).[0m + 16.49sINFOros2-11process has finished cleanly [pid 9230] + 16.50sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 16.50sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×3 + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×3 + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×3 + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×3 + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×3 + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×3 + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×3 + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×3 + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×3 + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×3 + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×3 + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×3 + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×3 + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×3 + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×3 + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×3 + 16.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.51sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.51sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_s4rc697n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wxyy9zlg --params-file /tmp/launch_params_xdlgcqv0 [0m + 16.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 16.53sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 16.55sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 16.55sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 16.56sINFOros2_control_nodeconfigure successful[0m ×9 + 16.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 16.57sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 16.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.72sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.73sWARNcomponent_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 + 16.94sINFOros2-12process has finished cleanly [pid 9231] + 16.97sINFOobjective_server_node[2026-06-26 16:36:29.125] [moveit_pro_license] [info] + 16.97sINFOobjective_server_node************************************************* ×8 + 16.97sINFOobjective_server_node* MoveIt Pro License ×4 + 16.97sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 17.04sINFOobjective_server_nodeLoaded robot model in 0.0267608 seconds[0m + 17.04sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 17.05sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 17.13sINFOcomponent_container_mtLoaded robot model in 0.402774 seconds[0m + 17.13sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 17.14sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 17.23sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 17.23sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 17.24sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_s4rc697n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wxyy9zlg --params-file /tmp/launch_params_xdlgcqv0 [0m + 17.36sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 17.37sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 17.37sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 17.37sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 17.37sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 17.38sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 17.38sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833583 ms (missed cycles : 2).[0m + 17.39sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 17.49sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 17.49sWARNobjective_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 + 17.49sWARNobjective_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 + 17.49sWARNobjective_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 + 17.49sWARNobjective_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 + 17.49sWARNobjective_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 + 17.49sWARNobjective_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 + 17.49sWARNobjective_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 + 17.49sWARNobjective_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 + 17.49sWARNobjective_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 + 17.49sWARNobjective_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 + 17.56sINFOobjective_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 + 17.56sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 17.57sWARNcomponent_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 + 17.57sWARNcomponent_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 + 17.57sWARNcomponent_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 + 17.57sWARNcomponent_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 + 17.58sWARNcomponent_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 + 17.58sWARNcomponent_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 + 17.58sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 17.58sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 17.58sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 17.58sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 17.58sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 17.58sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 17.58sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 17.58sWARNcomponent_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 + 17.58sWARNcomponent_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 + 17.58sWARNcomponent_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 + 17.58sWARNcomponent_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 + 17.58sWARNcomponent_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 + 17.58sWARNcomponent_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 + 17.58sWARNcomponent_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 + 17.58sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.60sWARNcomponent_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 + 17.60sWARNcomponent_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 + 17.70sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 17.71sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 17.71sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 17.72sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_s4rc697n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wxyy9zlg --params-file /tmp/launch_params_xdlgcqv0 [0m + 17.74sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 17.74sINFOros2-15process has finished cleanly [pid 9234] + 17.78sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 17.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 17.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 17.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 17.79sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 18.04sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 18.04sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 18.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 18.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 18.14sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 18.14sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 18.18sINFOros2-13process has finished cleanly [pid 9232] + 18.22sWARNobjective_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 + 18.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.26sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 18.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 18.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 18.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_s4rc697n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wxyy9zlg --params-file /tmp/launch_params_xdlgcqv0 [0m + 18.36sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 18.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 18.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 18.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 18.38sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×3 + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367940 ms (missed cycles : 3).[0m + 18.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.58sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.61sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 18.62sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 18.62sINFOcomponent_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 + 18.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×3 + 18.73sINFOros2_control_node[2026-06-26 16:36:30.887] [info] Controller state will be published at 20 Hz. + 18.73sINFOros2_control_node[2026-06-26 16:36:30.888] [info] JointVelocityController 'on_configure' succeeded. + 18.88sINFOmove_groupTrajectory execution is managing controllers[0m ×3 + 18.88sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 18.88sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 18.94sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 18.94sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×3 + 19.02sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 19.02sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 19.02sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 19.03sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 19.03sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 19.03sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 19.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×3 + 19.10sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 19.10sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 19.10sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_s4rc697n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wxyy9zlg --params-file /tmp/launch_params_xdlgcqv0 [0m + 19.11sINFOros2-19process has finished cleanly [pid 9238] + 19.15sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 19.17sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 19.18sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 19.21sINFOmove_group ×12 + 19.21sINFOmove_group******************************************************** ×6 + 19.21sINFOmove_group* MoveGroup using: ×3 + 19.21sINFOmove_group* - apply_planning_scene_service ×3 + 19.21sINFOmove_group* - clear_octomap_service ×3 + 19.21sINFOmove_group* - ExecuteTaskSolution ×3 + 19.21sINFOmove_group* - get_group_urdf ×3 + 19.21sINFOmove_group* - load_geometry_from_file ×3 + 19.21sINFOmove_group* - get_planning_scene_service ×3 + 19.21sINFOmove_group* - kinematics_service ×3 + 19.21sINFOmove_group* - save_geometry_to_file ×3 + 19.21sINFOmove_group* - GetPlanningGroups ×3 + 19.21sINFOmove_group* - SetActiveControllerService ×3 + 19.21sINFOmove_group* - URDFPlanningSceneCapability ×3 + 19.21sINFOmove_group[0m ×3 + 19.21sINFOmove_group[92mYou can start planning now![0m ×3 + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687671 ms (missed cycles : 5).[0m + 19.56sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 19.56sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 19.56sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_s4rc697n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wxyy9zlg --params-file /tmp/launch_params_xdlgcqv0 [0m + 19.58sINFOros2-14process has finished cleanly [pid 9233] + 19.63sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 19.63sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 19.86sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 20.00sINFOros2_control_node[2026-06-26 16:36:32.155] [info] Controller state will be published at 20 Hz. + 20.00sINFOros2_control_node[2026-06-26 16:36:32.156] [info] JointVelocityController 'on_configure' succeeded. + 20.37sINFOros2-18process has finished cleanly [pid 9237] + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282863 ms (missed cycles : 2).[0m + 20.62sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 20.62sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 20.63sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_s4rc697n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wxyy9zlg --params-file /tmp/launch_params_xdlgcqv0 [0m + 20.65sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 20.65sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 20.66sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 20.66sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 20.98sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 20.98sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 21.02sINFOros2-10process has finished cleanly [pid 9229] + 21.09sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_s4rc697n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wxyy9zlg --params-file /tmp/launch_params_xdlgcqv0 [0m + 21.15sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 21.15sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616452 ms (missed cycles : 3).[0m + 21.76sINFOros2_control_node[2026-06-26 16:36:33.918] [warning] No force/torque sensor configured. The VFC will ignore force references. + 21.76sINFOros2_control_node[2026-06-26 16:36:33.921] [info] Controller state will be published at 10 Hz. + 21.76sINFOros2_control_node[2026-06-26 16:36:33.923] [info] VelocityForceController 'on_configure' succeeded. + 22.08sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 22.08sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 22.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_s4rc697n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wxyy9zlg --params-file /tmp/launch_params_xdlgcqv0 [0m + 22.15sINFOros2-17process has finished cleanly [pid 9236] + 22.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 22.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022988 ms (missed cycles : 3).[0m + 22.55sINFOros2_control_node[2026-06-26 16:36:34.702] [warning] No force/torque sensor configured. The VFC will ignore force references. + 22.55sINFOros2_control_node[2026-06-26 16:36:34.704] [info] Controller state will be published at 10 Hz. + 22.55sINFOros2_control_node[2026-06-26 16:36:34.706] [info] VelocityForceController 'on_configure' succeeded. + 22.90sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 22.90sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 22.91sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_s4rc697n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wxyy9zlg --params-file /tmp/launch_params_xdlgcqv0 [0m + 22.92sINFOros2-16process has finished cleanly [pid 9235] + 22.98sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 22.98sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 22.99sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 23.00sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 23.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×30 + 23.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×30 + 23.33sINFOros2-9process has finished cleanly [pid 9227] + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.394718 ms (missed cycles : 6).[0m + 23.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782491795.91690445 seconds. + 23.76sINFOmove_groupClearing octomap...[0m ×4 + 23.76sINFOmove_groupOctomap cleared.[0m ×4 + 23.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782491795.92714715 seconds + 24.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782491796.48623133 seconds. + 24.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782491796.49642754 seconds + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175923 ms (missed cycles : 4).[0m + 24.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782491797.04864001 seconds. + 25.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782491797.19948077 seconds + 25.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782491797.78157926 seconds. + 25.65sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 25.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 25.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 25.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 25.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982098 ms (missed cycles : 3).[0m + 25.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782491797.86174583 seconds + 26.00sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m + 26.25sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782491798.40982318 seconds. + 26.41sERRORobjective_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] ×4 + 26.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782491798.57007909 seconds + 26.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113374 ms (missed cycles : 3).[0m + 27.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782491799.23957562 seconds. + 27.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×11 + 27.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m + 27.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m + 27.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m + 27.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.784896 ms (missed cycles : 6).[0m + 28.13sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×7 + 28.13sINFOobjective_server_nodePlanning for 177 path waypoints. + 28.38sINFOros2_control_nodeReceived new action goal[0m ×17 + 28.38sINFOros2_control_nodeAccepted new action goal[0m ×17 + 28.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021757 ms (missed cycles : 2).[0m + 29.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976719 ms (missed cycles : 3).[0m + 30.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551976 ms (missed cycles : 3).[0m + 31.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689850 ms (missed cycles : 3).[0m + 33.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881592 ms (missed cycles : 3).[0m + 34.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303104 ms (missed cycles : 3).[0m + 35.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532758 ms (missed cycles : 3).[0m + 36.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292036 ms (missed cycles : 4).[0m + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316338 ms (missed cycles : 3).[0m + 38.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701809 ms (missed cycles : 2).[0m + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146354 ms (missed cycles : 6).[0m + 40.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.601799 ms (missed cycles : 5).[0m + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915105 ms (missed cycles : 4).[0m + 42.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584196 ms (missed cycles : 4).[0m + 43.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694205 ms (missed cycles : 2).[0m + 44.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427889 ms (missed cycles : 3).[0m + 45.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612758 ms (missed cycles : 3).[0m + 46.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.882092 ms (missed cycles : 4).[0m + 47.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.280415 ms (missed cycles : 5).[0m + 48.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.030045 ms (missed cycles : 7).[0m + 49.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384807 ms (missed cycles : 3).[0m + 50.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073564 ms (missed cycles : 4).[0m + 51.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219753 ms (missed cycles : 2).[0m + 52.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058030 ms (missed cycles : 2).[0m + 54.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129898 ms (missed cycles : 4).[0m + 55.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.038488 ms (missed cycles : 7).[0m + 56.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363273 ms (missed cycles : 3).[0m + 57.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327015 ms (missed cycles : 2).[0m + 58.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771889 ms (missed cycles : 3).[0m + 59.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765338 ms (missed cycles : 3).[0m + 60.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672837 ms (missed cycles : 3).[0m + 61.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082398 ms (missed cycles : 4).[0m + 62.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727241 ms (missed cycles : 3).[0m + 63.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426290 ms (missed cycles : 4).[0m + 64.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.488581 ms (missed cycles : 6).[0m + 65.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920193 ms (missed cycles : 3).[0m + 66.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.327859 ms (missed cycles : 5).[0m + 67.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425233 ms (missed cycles : 3).[0m + 68.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627799 ms (missed cycles : 2).[0m + 69.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944643 ms (missed cycles : 2).[0m + 69.96sINFOros2_control_nodeGoal reached, success![0m ×16 + 69.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782491842.14651203 seconds + 70.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782491842.70464396 seconds. + 70.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.452465 ms (missed cycles : 4).[0m + 71.51sINFOobjective_server_nodeFound path in 0 iterations (2.0191e-05 s). + 71.51sINFOobjective_server_nodePath shortcutter: [X____X] + 71.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 71.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567797 ms (missed cycles : 4).[0m + 72.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.027902 ms (missed cycles : 7).[0m + 73.64sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782491845.79486609 seconds + 73.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.054272 ms (missed cycles : 7).[0m + 74.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782491846.34607053 seconds. + 74.52sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 74.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167263 ms (missed cycles : 2).[0m + 76.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552306 ms (missed cycles : 5).[0m + 76.16sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 77.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796608 ms (missed cycles : 5).[0m + 78.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372722 ms (missed cycles : 3).[0m + 79.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373781 ms (missed cycles : 3).[0m + 80.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093816 ms (missed cycles : 2).[0m + 81.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148630 ms (missed cycles : 3).[0m + 82.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867099 ms (missed cycles : 2).[0m + 83.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794080 ms (missed cycles : 2).[0m + 84.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645044 ms (missed cycles : 3).[0m + 85.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124161 ms (missed cycles : 3).[0m + 86.00sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m + 86.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465696 ms (missed cycles : 3).[0m + 87.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747667 ms (missed cycles : 5).[0m + 88.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226831 ms (missed cycles : 3).[0m + 89.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484164 ms (missed cycles : 2).[0m + 90.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939205 ms (missed cycles : 3).[0m + 91.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491486 ms (missed cycles : 3).[0m + 92.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039995 ms (missed cycles : 4).[0m + 93.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197431 ms (missed cycles : 2).[0m + 94.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578642 ms (missed cycles : 3).[0m + 95.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307400 ms (missed cycles : 2).[0m + 96.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935441 ms (missed cycles : 5).[0m + 97.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911760 ms (missed cycles : 3).[0m + 98.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868771 ms (missed cycles : 3).[0m + 99.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.067182 ms (missed cycles : 4).[0m +101.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.202230 ms (missed cycles : 5).[0m +102.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400220 ms (missed cycles : 2).[0m +103.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727240 ms (missed cycles : 2).[0m +104.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330068 ms (missed cycles : 2).[0m +105.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750332 ms (missed cycles : 2).[0m +105.10sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +106.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.500516 ms (missed cycles : 4).[0m +107.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258067 ms (missed cycles : 2).[0m +108.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241218 ms (missed cycles : 6).[0m +109.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258591 ms (missed cycles : 5).[0m +110.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657803 ms (missed cycles : 2).[0m +111.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736641 ms (missed cycles : 3).[0m +112.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389569 ms (missed cycles : 3).[0m +113.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.500711 ms (missed cycles : 7).[0m +114.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.728890 ms (missed cycles : 5).[0m +115.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578798 ms (missed cycles : 3).[0m +116.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167752 ms (missed cycles : 3).[0m +117.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135420 ms (missed cycles : 2).[0m +118.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299665 ms (missed cycles : 2).[0m +119.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296337 ms (missed cycles : 2).[0m +120.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057505 ms (missed cycles : 3).[0m +121.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575481 ms (missed cycles : 3).[0m +122.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082255 ms (missed cycles : 2).[0m +123.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250955 ms (missed cycles : 2).[0m +124.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.205641 ms (missed cycles : 4).[0m +125.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.042147 ms (missed cycles : 7).[0m +126.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568238 ms (missed cycles : 3).[0m +127.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261470 ms (missed cycles : 2).[0m +129.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.763358 ms (missed cycles : 5).[0m +130.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173355 ms (missed cycles : 2).[0m +130.67sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782491902.82622981 seconds +131.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956396 ms (missed cycles : 2).[0m +131.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782491903.38515878 seconds. +131.57sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). +131.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +132.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419917 ms (missed cycles : 3).[0m +133.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350776 ms (missed cycles : 5).[0m +134.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906408 ms (missed cycles : 2).[0m +135.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106101 ms (missed cycles : 4).[0m +135.32sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782491907.47531843 seconds +136.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327849 ms (missed cycles : 2).[0m +136.88sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782491909.03892922 seconds. +137.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905186 ms (missed cycles : 3).[0m +137.24sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). +138.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270130 ms (missed cycles : 2).[0m +138.69sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +139.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271069 ms (missed cycles : 4).[0m +140.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.120645 ms (missed cycles : 5).[0m +141.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863347 ms (missed cycles : 2).[0m +142.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470944 ms (missed cycles : 6).[0m +143.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054499 ms (missed cycles : 4).[0m +144.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254877 ms (missed cycles : 5).[0m +145.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.103693 ms (missed cycles : 7).[0m +146.00sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m +146.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954602 ms (missed cycles : 2).[0m +147.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.594463 ms (missed cycles : 5).[0m +148.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924395 ms (missed cycles : 2).[0m +149.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085681 ms (missed cycles : 2).[0m +150.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.145593 ms (missed cycles : 4).[0m +151.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948894 ms (missed cycles : 4).[0m +152.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670122 ms (missed cycles : 2).[0m +153.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448923 ms (missed cycles : 3).[0m +155.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129162 ms (missed cycles : 4).[0m +156.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057010 ms (missed cycles : 4).[0m +157.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028995 ms (missed cycles : 2).[0m +158.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477275 ms (missed cycles : 3).[0m +159.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354539 ms (missed cycles : 3).[0m +160.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820286 ms (missed cycles : 5).[0m +161.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426810 ms (missed cycles : 3).[0m +162.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393346 ms (missed cycles : 3).[0m +163.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696800 ms (missed cycles : 3).[0m +164.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753659 ms (missed cycles : 3).[0m +165.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.132242 ms (missed cycles : 8).[0m +166.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482018 ms (missed cycles : 3).[0m +167.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782491939.30908942 seconds +167.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.805937 ms (missed cycles : 5).[0m +167.72sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782491939.88145733 seconds. +168.09sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). +168.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135930 ms (missed cycles : 4).[0m +169.34sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________X] +169.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897363 ms (missed cycles : 3).[0m +170.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519644 ms (missed cycles : 2).[0m +171.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179596 ms (missed cycles : 4).[0m +172.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.465998 ms (missed cycles : 6).[0m +173.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920326 ms (missed cycles : 2).[0m +174.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487010 ms (missed cycles : 3).[0m +175.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105615 ms (missed cycles : 6).[0m +176.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235561 ms (missed cycles : 3).[0m +178.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801087 ms (missed cycles : 2).[0m +179.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.165156 ms (missed cycles : 7).[0m +180.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214916 ms (missed cycles : 2).[0m +181.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586564 ms (missed cycles : 3).[0m +182.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482791 ms (missed cycles : 3).[0m +183.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.134097 ms (missed cycles : 7).[0m +184.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229699 ms (missed cycles : 2).[0m +185.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787218 ms (missed cycles : 5).[0m +186.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263901 ms (missed cycles : 3).[0m +187.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168517 ms (missed cycles : 3).[0m +188.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830017 ms (missed cycles : 2).[0m +189.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.859574 ms (missed cycles : 8).[0m +190.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595736 ms (missed cycles : 3).[0m +191.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635028 ms (missed cycles : 2).[0m +192.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918515 ms (missed cycles : 2).[0m +193.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336121 ms (missed cycles : 3).[0m +194.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075022 ms (missed cycles : 3).[0m +195.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865793 ms (missed cycles : 2).[0m +196.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593292 ms (missed cycles : 4).[0m +197.08sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +197.75sINFOobjective_server_nodePlanning for 51 path waypoints. +197.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651687 ms (missed cycles : 3).[0m +198.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793019 ms (missed cycles : 2).[0m +199.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040036 ms (missed cycles : 2).[0m +200.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507205 ms (missed cycles : 3).[0m +202.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678145 ms (missed cycles : 3).[0m +203.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913643 ms (missed cycles : 2).[0m +204.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.799135 ms (missed cycles : 5).[0m +205.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512785 ms (missed cycles : 3).[0m +206.00sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m +206.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338518 ms (missed cycles : 2).[0m +207.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108652 ms (missed cycles : 2).[0m +208.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614885 ms (missed cycles : 6).[0m +209.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364898 ms (missed cycles : 3).[0m +210.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754318 ms (missed cycles : 2).[0m +211.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765222 ms (missed cycles : 3).[0m +212.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676752 ms (missed cycles : 3).[0m +213.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047396 ms (missed cycles : 2).[0m +214.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770623 ms (missed cycles : 4).[0m +215.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944954 ms (missed cycles : 2).[0m +216.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.033612 ms (missed cycles : 7).[0m +217.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.212248 ms (missed cycles : 7).[0m +218.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.763315 ms (missed cycles : 5).[0m +219.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673859 ms (missed cycles : 2).[0m +220.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782491992.50164795 seconds +220.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103585 ms (missed cycles : 4).[0m +220.89sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782491993.05267978 seconds. +221.25sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 +221.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.835159 ms (missed cycles : 5).[0m +222.50sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] +222.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597748 ms (missed cycles : 3).[0m +224.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780830 ms (missed cycles : 5).[0m +225.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153574 ms (missed cycles : 4).[0m +226.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892535 ms (missed cycles : 2).[0m +227.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.267347 ms (missed cycles : 5).[0m +228.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844140 ms (missed cycles : 2).[0m +229.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760624 ms (missed cycles : 3).[0m +230.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385067 ms (missed cycles : 3).[0m +231.08sINFOros2_control_nodeGot request to cancel goal[0m +231.08sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +231.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782492003.26182365 seconds +231.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929892 ms (missed cycles : 2).[0m +231.65sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782492003.81209564 seconds. +232.00sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). +232.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492311 ms (missed cycles : 3).[0m +233.27sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 +233.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325570 ms (missed cycles : 2).[0m +234.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380738 ms (missed cycles : 3).[0m +235.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434410 ms (missed cycles : 4).[0m +236.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.369561 ms (missed cycles : 8).[0m +237.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519949 ms (missed cycles : 6).[0m +238.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330414 ms (missed cycles : 3).[0m +239.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332215 ms (missed cycles : 4).[0m +240.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200009 ms (missed cycles : 4).[0m +241.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630788 ms (missed cycles : 3).[0m +242.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776745 ms (missed cycles : 4).[0m +243.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731313 ms (missed cycles : 3).[0m +244.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742297 ms (missed cycles : 2).[0m +246.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838826 ms (missed cycles : 5).[0m +247.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.838177 ms (missed cycles : 8).[0m +248.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060906 ms (missed cycles : 3).[0m +249.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421532 ms (missed cycles : 2).[0m +250.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655018 ms (missed cycles : 3).[0m +251.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.633967 ms (missed cycles : 6).[0m +252.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669060 ms (missed cycles : 3).[0m +253.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141274 ms (missed cycles : 2).[0m +254.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954315 ms (missed cycles : 2).[0m +255.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100084 ms (missed cycles : 7).[0m +256.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741024 ms (missed cycles : 3).[0m +257.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839712 ms (missed cycles : 2).[0m +258.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638483 ms (missed cycles : 3).[0m +259.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664178 ms (missed cycles : 2).[0m +260.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.627319 ms (missed cycles : 5).[0m +261.60sINFOobjective_server_nodePlanning for 34 path waypoints. +261.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510611 ms (missed cycles : 3).[0m +262.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070528 ms (missed cycles : 3).[0m +263.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543345 ms (missed cycles : 3).[0m +264.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408717 ms (missed cycles : 3).[0m +265.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747962 ms (missed cycles : 2).[0m +266.01sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m +266.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.336845 ms (missed cycles : 5).[0m +268.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.853960 ms (missed cycles : 5).[0m +269.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327516 ms (missed cycles : 5).[0m +270.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234417 ms (missed cycles : 3).[0m +271.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.821521 ms (missed cycles : 5).[0m +272.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585007 ms (missed cycles : 3).[0m +273.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477230 ms (missed cycles : 3).[0m +274.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079999 ms (missed cycles : 4).[0m +275.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599031 ms (missed cycles : 3).[0m +276.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241754 ms (missed cycles : 2).[0m +277.36sINFOobjective_server_nodePlanning for 42 path waypoints. +277.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635146 ms (missed cycles : 2).[0m +278.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740525 ms (missed cycles : 2).[0m +279.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321175 ms (missed cycles : 4).[0m +280.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357647 ms (missed cycles : 2).[0m +281.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.735983 ms (missed cycles : 6).[0m +282.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568872 ms (missed cycles : 3).[0m +283.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583775 ms (missed cycles : 3).[0m +284.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218120 ms (missed cycles : 4).[0m +285.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548670 ms (missed cycles : 6).[0m +286.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162957 ms (missed cycles : 4).[0m +287.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079399 ms (missed cycles : 4).[0m +289.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052718 ms (missed cycles : 3).[0m +290.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.853773 ms (missed cycles : 5).[0m +290.50sINFOobjective_server_nodePlanning for 31 path waypoints. +291.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039508 ms (missed cycles : 2).[0m +292.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735872 ms (missed cycles : 2).[0m +293.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659581 ms (missed cycles : 3).[0m +294.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684536 ms (missed cycles : 2).[0m +295.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314484 ms (missed cycles : 4).[0m +296.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811512 ms (missed cycles : 3).[0m +297.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906850 ms (missed cycles : 2).[0m +298.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828538 ms (missed cycles : 2).[0m +299.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389052 ms (missed cycles : 4).[0m +300.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.412591 ms (missed cycles : 6).[0m +301.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123990 ms (missed cycles : 4).[0m +302.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483730 ms (missed cycles : 4).[0m +302.98sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782492075.14227819 seconds +303.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782492075.70796657 seconds. +303.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724141 ms (missed cycles : 2).[0m +303.93sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). +304.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747801 ms (missed cycles : 2).[0m +305.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340301 ms (missed cycles : 3).[0m +306.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011686 ms (missed cycles : 2).[0m +307.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449800 ms (missed cycles : 6).[0m +308.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.721109 ms (missed cycles : 6).[0m +309.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879337 ms (missed cycles : 2).[0m +310.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332668 ms (missed cycles : 2).[0m +311.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599464 ms (missed cycles : 3).[0m +312.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001924 ms (missed cycles : 4).[0m +313.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885870 ms (missed cycles : 5).[0m +314.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602607 ms (missed cycles : 5).[0m +315.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694811 ms (missed cycles : 3).[0m +317.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558914 ms (missed cycles : 3).[0m +318.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.904420 ms (missed cycles : 5).[0m +319.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700373 ms (missed cycles : 3).[0m +320.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975596 ms (missed cycles : 5).[0m +321.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749880 ms (missed cycles : 3).[0m +322.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549209 ms (missed cycles : 4).[0m +323.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913780 ms (missed cycles : 5).[0m +324.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541717 ms (missed cycles : 6).[0m +325.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275301 ms (missed cycles : 5).[0m +326.01sINFOros2_control_nodeMuJoCo sim: 1.00% of iterations over time budget. Below 1% expected for non-realtime.[0m +326.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227034 ms (missed cycles : 2).[0m +327.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859764 ms (missed cycles : 4).[0m +328.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451232 ms (missed cycles : 4).[0m +329.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256147 ms (missed cycles : 2).[0m +330.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.317171 ms (missed cycles : 6).[0m +331.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514729 ms (missed cycles : 3).[0m +332.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747540 ms (missed cycles : 3).[0m +333.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.110453 ms (missed cycles : 5).[0m +334.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943678 ms (missed cycles : 2).[0m +335.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157878 ms (missed cycles : 4).[0m +336.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998435 ms (missed cycles : 2).[0m +338.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414164 ms (missed cycles : 4).[0m +339.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731169 ms (missed cycles : 2).[0m +340.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.175500 ms (missed cycles : 7).[0m +341.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710796 ms (missed cycles : 3).[0m +342.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894982 ms (missed cycles : 3).[0m +343.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413575 ms (missed cycles : 3).[0m +344.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543829 ms (missed cycles : 3).[0m +345.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574979 ms (missed cycles : 4).[0m +346.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.597597 ms (missed cycles : 7).[0m +347.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242569 ms (missed cycles : 5).[0m +348.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.068243 ms (missed cycles : 4).[0m +349.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859812 ms (missed cycles : 3).[0m +350.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463765 ms (missed cycles : 3).[0m +351.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085965 ms (missed cycles : 4).[0m +352.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112681 ms (missed cycles : 7).[0m +353.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780470 ms (missed cycles : 2).[0m +354.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822918 ms (missed cycles : 2).[0m +355.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457378 ms (missed cycles : 4).[0m +356.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.691130 ms (missed cycles : 6).[0m +357.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306290 ms (missed cycles : 3).[0m +358.38sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782492130.53810954 seconds +358.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239669 ms (missed cycles : 2).[0m +358.95sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782492131.10518098 seconds. +359.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.273555 ms (missed cycles : 4).[0m +360.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652151 ms (missed cycles : 3).[0m +362.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216084 ms (missed cycles : 2).[0m +363.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375215 ms (missed cycles : 4).[0m +363.60sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). +363.63sINFOobjective_server_nodePath shortcutter: [X__________________X] +363.65sINFOobjective_server_nodeFound path in 0 iterations (7.6e-07 s). +363.69sINFOobjective_server_nodePath shortcutter: [X____________________X] +363.72sINFOobjective_server_nodeFound path in 0 iterations (9.6e-07 s). +363.77sINFOobjective_server_nodePath shortcutter: [X_________________________X] +363.95sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] +363.99sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). +364.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268933 ms (missed cycles : 3).[0m +364.17sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] +364.25sINFOobjective_server_nodeFound path in 29 iterations (0.0367398 s). +364.47sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_____X] +364.52sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 +364.88sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +365.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180052 ms (missed cycles : 2).[0m +365.24sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +365.29sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +366.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657852 ms (missed cycles : 3).[0m +367.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.651486 ms (missed cycles : 6).[0m +368.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968969 ms (missed cycles : 5).[0m +369.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.190572 ms (missed cycles : 7).[0m +370.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583328 ms (missed cycles : 2).[0m +371.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880247 ms (missed cycles : 5).[0m +371.29sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782492143.44901252 seconds +371.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782492144.03795433 seconds. +372.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952672 ms (missed cycles : 3).[0m +372.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782492144.67808986 seconds +373.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782492145.23455572 seconds. +373.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.806027 ms (missed cycles : 5).[0m +373.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782492145.68470836 seconds +373.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +374.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559897 ms (missed cycles : 3).[0m +375.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.792349 ms (missed cycles : 5).[0m +376.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430312 ms (missed cycles : 5).[0m +377.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372931 ms (missed cycles : 5).[0m +378.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989235 ms (missed cycles : 2).[0m +379.05sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.05sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.06sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.06sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.07sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.07sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.07sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] +379.09sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.10sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.10sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.10sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.11sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] +379.13sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.13sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.14sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.14sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.14sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.15sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.15sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.15sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.16sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.16sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +379.17sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] +379.18sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] +379.20sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] +379.22sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +379.24sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +379.24sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] +379.26sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] +379.28sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] +379.30sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] +379.32sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +379.33sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] +379.35sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] +379.36sINFOweb_video_server-31process has finished cleanly [pid 9307] +379.38sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] +379.38sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9306] +379.40sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +379.41sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +379.42sERRORmove_group-20process has died [pid 9239, 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_vumzadus --params-file /tmp/launch_params_m7kv1qsv --params-file /tmp/launch_params_sb7cswia --params-file /tmp/launch_params_nyjzz97c --params-file /tmp/launch_params_iav0o_g8 --params-file /tmp/launch_params_gor2hx8o --params-file /tmp/launch_params_x7x4e05b --params-file /tmp/launch_params_zsh94j2_ --params-file /tmp/launch_params_wh_9tz7x']. +379.43sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +379.45sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +379.46sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +379.48sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +379.50sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +379.50sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +379.50sERRORui_teleop_bridgeTraceback (most recent call last): +379.50sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +379.50sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +379.50sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +379.50sINFOui_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 +379.50sINFOui_teleop_bridgerclpy.shutdown() +379.50sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +379.50sINFOui_teleop_bridge_shutdown(context=context) +379.50sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +379.50sINFOui_teleop_bridgecontext.shutdown() +379.50sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +379.50sINFOui_teleop_bridgeself.__context.shutdown() +379.50sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +379.50sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m +379.51sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +379.51sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +379.51sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +379.51sINFOcomponent_container_mtStopping planning scene monitor[0m +379.51sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +379.51sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +379.51sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +379.51sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +379.51sERRORmove_groupwhat(): context cannot be slept with because it's invalid +379.51sERRORmove_groupStack trace (most recent call last) in thread 9808: +379.51sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +379.51sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3765c00a63, in __clone +379.51sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3765b73aa3, in +379.51sINFOobjective_server_node[2026-06-26 16:42:31.518] [moveit_pro_license] [info] +379.51sINFOobjective_server_node* Application has successfully terminated +379.51sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3765e05db3, in +379.51sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f376645a1c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +379.51sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f37661784d0, in rclcpp::Rate::sleep() +379.51sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f37660cba88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +379.51sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3766090a71, in +379.51sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3765dd4390, in __cxa_throw +379.51sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3765dbea54, in std::terminate() +379.51sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3765dd40d9, in +379.51sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3765dbeff4, in +379.51sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3765aff8fe, in abort +379.51sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3765b1c27d, in raise +379.51sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3765b75b2c, in pthread_kill +379.51sERRORmove_groupAborted (Signal sent by tkill() 9239 0) +379.51sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system +379.52sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +379.52sINFOros2_control_nodeShutdown request received....[0m +379.52sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +379.52sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +379.52sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +379.52sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +379.52sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +379.52sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +379.52sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +379.52sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +379.52sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +379.52sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +379.52sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +379.52sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +379.52sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +379.52sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +379.52sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +379.52sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +379.52sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +379.52sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +379.52sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +379.52sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +379.52sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +379.52sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +379.52sINFOros2_control_nodeShutting down the controller manager.[0m +379.52sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +379.52sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 +379.52sERRORobjective_server_nodeStack trace (most recent call last): +379.52sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +379.52sERRORobjective_server_node_main-25process has died [pid 9301, 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_yk9nhofe --params-file /tmp/launch_params_j33mg6hq --params-file /tmp/launch_params_0aso3338 --params-file /tmp/launch_params_w9chg6gp --params-file /tmp/launch_params_n15bwx1s --params-file /tmp/launch_params_zbl0ah4m --params-file /tmp/launch_params_4nj08eu0 --params-file /tmp/launch_params_w4cswr74 --params-file /tmp/launch_params_huy1imqh']. +379.52sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +379.52sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5599780936a4, in _start +379.52sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe58b07528a, in __libc_start_main +379.52sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe58b0751d0, in +379.52sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe58b092bbd, in exit +379.52sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe58b092a75, in +379.52sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fe58b5644a2, in spdlog::details::registry::~registry() +379.52sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fe58b56f69d, 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() +379.52sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fe58b569965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +379.52sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55997809a315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +379.52sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5599780995a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +379.52sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559978095b7b, in spdlog_ros::RosSink::~RosSink() +379.52sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559978093d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +379.52sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe58bc0b454, in rclcpp::Node::~Node() +379.52sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe58bbc6515, in +379.52sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe58bc09d20, in +379.52sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe58bc09c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +379.52sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe58bbc65d9, in +379.52sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe58bbcb161, in rclcpp::CallbackGroup::~CallbackGroup() +379.52sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fe5406d4120]) +379.52sERRORodom_qos_relay.pyTraceback (most recent call last): +379.52sINFOodom_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> +379.53sINFOodom_qos_relay.pymain() +379.53sINFOodom_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 +379.53sINFOodom_qos_relay.pyrclpy.spin(node) +379.53sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +379.53sINFOodom_qos_relay.pyexecutor.spin_once() +379.53sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +379.53sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +379.53sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +379.53sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +379.53sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +379.53sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +379.53sINFOodom_qos_relay.pyreturn next(self._cb_iter) +379.53sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +379.53sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +379.53sINFOodom_qos_relay.pyraise ExternalShutdownException() +379.53sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +379.53sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×3 +379.53sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +379.53sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system +379.59sINFOros2_control_nodeAsync messages lost 0[0m ×2 +379.59sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 +380.08sERRORcomponent_container_isolated-1process has died [pid 9143, 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_yr1f0isw --params-file /tmp/launch_params_n4nflu35 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +380.31sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9300] +380.31sERRORui_teleop_bridge-28process has died [pid 9304, 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__w9bmkj5']. +380.33sINFOexecute_objective_bridge-27process has finished cleanly [pid 9303] +380.33sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9242] +380.40sINFOparameter_manager_node-21process has finished cleanly [pid 9240] +380.41sINFOwaypoint_manager_node-22process has finished cleanly [pid 9241] +380.44sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9149] +380.46sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9148] +380.49sINFOstatic_transform_publisher-4process has finished cleanly [pid 9146] +380.50sINFOstatic_transform_publisher-3process has finished cleanly [pid 9145] +380.52sINFOstatic_transform_publisher-2process has finished cleanly [pid 9144] +380.53sERRORodom_qos_relay.py-5process has died [pid 9147, 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']. +380.53sINFOcomponent_container_mt-26process has finished cleanly [pid 9302] +381.94sINFOweb_bridge-29process has finished cleanly [pid 9305] +381.94sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system +382.18sINFOros2_control_node-8process has finished cleanly [pid 9150] +389.98sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-26-16-42-38-926019-8af6ecddb5fd-10131 ×2 +403.12sINFOstatic_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' +403.12sINFOstatic_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' +403.12sINFOstatic_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' +403.23sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +403.27sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +403.28sINFOcontroller_managerupdate rate is 600 Hz +403.28sINFOcontroller_managerOverruns handling is : enabled +403.28sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +403.28sWARNcontroller_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. +403.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +403.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +403.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +403.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +403.33sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +403.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854416 ms (missed cycles : 5). +403.35sINFOros2_control_node-8process started with pid [10187] ×2 +403.35sINFOmove_group-20process started with pid [10276] ×2 +403.35sINFOparameter_manager_node-21process started with pid [10277] ×2 +403.35sINFOwaypoint_manager_node-22process started with pid [10278] ×2 +403.35sINFOmove_joint_resampler_node-23process started with pid [10279] ×2 +403.35sINFOmove_end_effector_resampler_node-24process started with pid [10337] ×2 +403.35sINFOobjective_server_node_main-25process started with pid [10338] ×2 +403.35sINFOcomponent_container_mt-26process started with pid [10339] ×2 +403.36sINFOexecute_objective_bridge-27process started with pid [10340] ×2 +403.36sINFOui_teleop_bridge-28process started with pid [10341] ×2 +403.36sINFOweb_bridge-29process started with pid [10342] ×2 +403.36sINFOtf2_web_republisher_node-30process started with pid [10343] ×2 +403.36sINFOweb_video_server-31process started with pid [10346] ×2 +403.36sINFOcomponent_container_isolated-1process started with pid [10180] ×2 +403.36sINFOstatic_transform_publisher-2process started with pid [10181] ×2 +403.36sINFOstatic_transform_publisher-3process started with pid [10182] ×2 +403.36sINFOstatic_transform_publisher-4process started with pid [10183] ×2 +403.36sINFOodom_qos_relay.py-5process started with pid [10184] ×2 +403.36sINFOscan_to_scan_filter_chain-6process started with pid [10185] ×2 +403.37sINFOmap_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. +403.37sINFOmap_serverCreating +403.37sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +403.38sINFOscan_to_scan_filter_chain-7process started with pid [10186] ×2 +403.38sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +403.38sINFOros2-9process started with pid [10265] ×2 +403.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +403.38sINFOros2-10process started with pid [10266] ×2 +403.38sINFOros2-11process started with pid [10267] ×2 +403.38sINFOros2-12process started with pid [10268] ×2 +403.38sINFOros2-13process started with pid [10269] ×2 +403.38sINFOros2-14process started with pid [10270] ×2 +403.38sINFOros2-15process started with pid [10271] ×2 +403.39sINFOros2-16process started with pid [10272] ×2 +403.39sINFOros2-17process started with pid [10273] ×2 +403.39sINFOros2-18process started with pid [10274] ×2 +403.39sINFOros2-19process started with pid [10275] ×2 +403.42sINFOcontroller_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. +403.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854416 ms (missed cycles : 5).[0m ×2 +403.53sINFOcontroller_serverCreating controller server +403.55sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +403.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +403.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +403.57sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +403.60sINFOlocal_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. +403.61sINFOlocal_costmap.local_costmapCreating Costmap +403.62sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +403.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +403.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +403.64sINFOrobot_state_publisherRobot initialized +403.64sINFOcontroller_managerReceived robot description from topic. +403.64sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +403.66sINFOlifecycle_manager_localizationCreating +403.67sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +403.68sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +403.68sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +403.68sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +403.68sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +403.68sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +403.69sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +403.69sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +403.69sINFOmap_serverConfiguring +403.71sINFOsmoother_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. +403.74sINFOsmoother_serverCreating smoother server +403.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +403.74sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +403.77sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +403.78sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +403.78sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +403.78sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +403.78sINFOmap_serverActivating +403.78sINFOmap_serverCreating bond (map_server) to lifecycle manager. +403.80sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +403.81sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +403.85sINFOplanner_serverCreating +403.88sINFOlifecycle_manager_localizationServer map_server connected with bond. +403.88sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +403.88sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +403.90sINFOglobal_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. +403.90sINFOglobal_costmap.global_costmapCreating Costmap +403.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +403.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +403.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +403.96sINFObehavior_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. +403.97sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.412408 seconds +403.97sINFOmove_groupLoaded robot model in 0.412408 seconds[0m ×2 +403.98sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +403.98sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +404.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +404.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +404.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +404.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +404.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +404.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +404.02sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +404.03sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +404.03sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +404.03sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +404.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +404.03sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +404.07sINFObt_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. +404.10sINFObt_navigatorCreating +404.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +404.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +404.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +404.13sWARNlaser_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. +404.13sWARNlaser_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. +404.15sINFOwaypoint_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. +404.16sINFOwaypoint_followerCreating +404.18sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +404.18sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +404.18sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +404.21sINFOvelocity_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. +404.25sINFOlifecycle_manager_navigationCreating +404.26sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +404.29sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +404.29sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +404.29sINFOcontroller_serverConfiguring controller interface +404.29sINFOcontroller_servergetting progress checker plugins.. +404.29sINFOcontroller_servergetting goal checker plugins.. +404.29sINFOcontroller_serverController frequency set to 20.0000Hz +404.29sINFOlocal_costmap.local_costmapConfiguring +404.31sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +404.33sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +404.38sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +404.38sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +404.38sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +404.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.463882 ms (missed cycles : 6). +404.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.463882 ms (missed cycles : 6).[0m ×2 +404.43sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +404.43sINFOcontroller_serverController Server has progress_checker progress checkers available. +404.44sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +404.44sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +404.45sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +404.47sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +404.47sINFOwaypoint_manager_nodeLoaded robot model in 0.35966 seconds[0m ×2 +404.48sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +404.48sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +404.50sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +404.50sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +404.50sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +404.50sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +404.50sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +404.50sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +404.50sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +404.50sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +404.50sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +404.51sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +404.51sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +404.51sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +404.51sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +404.52sINFOcontroller_serverOptimizer reset +404.53sINFOcontroller_serverController Server has FollowPath controllers available. +404.56sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +404.56sINFOsmoother_serverConfiguring smoother server +404.58sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +404.58sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +404.59sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +404.59sINFOplanner_serverConfiguring +404.59sINFOglobal_costmap.global_costmapConfiguring +404.60sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +404.61sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +404.61sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +404.61sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +404.62sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +404.64sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +404.64sWARNmove_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. +404.65sWARNmove_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. +404.65sWARNmove_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. +404.65sWARNmove_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. +404.65sWARNmove_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. +404.65sWARNmove_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. +404.65sWARNmove_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. +404.66sWARNmove_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. +404.66sWARNmove_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. +404.66sWARNmove_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. +404.70sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +404.70sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +404.71sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +404.75sFATALplanner_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 +404.75sINFOplanner_serverCleaning up +404.75sINFOglobal_costmap.global_costmapCleaning up +404.75sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +404.79sERRORlifecycle_manager_navigationFailed to change state for node: planner_server +404.79sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. +405.09sWARNwaypoint_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. +405.09sWARNwaypoint_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. +405.09sWARNwaypoint_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. +405.10sWARNwaypoint_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. +405.10sWARNwaypoint_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. +405.10sWARNwaypoint_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. +405.10sWARNwaypoint_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. +405.10sWARNwaypoint_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. +405.11sWARNwaypoint_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. +405.11sWARNwaypoint_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. +405.11sWARNwaypoint_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. +405.11sWARNwaypoint_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. +405.12sWARNwaypoint_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. +405.12sWARNwaypoint_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. +405.12sWARNwaypoint_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. +405.12sWARNwaypoint_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. +405.12sWARNwaypoint_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. +405.13sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +405.13sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +405.13sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +405.13sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +405.14sWARNwaypoint_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. +405.14sWARNwaypoint_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. +405.14sWARNwaypoint_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. +405.15sWARNwaypoint_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. +405.15sWARNwaypoint_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. +405.15sWARNwaypoint_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. +405.15sWARNwaypoint_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. +405.18sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +405.23sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +405.23sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +405.23sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +405.23sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +405.23sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +405.23sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +405.23sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +405.24sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +405.24sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +405.24sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +405.24sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +405.38sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +405.38sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +405.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016560 ms (missed cycles : 2). +405.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016560 ms (missed cycles : 2).[0m ×2 +405.99sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +405.99sINFOcontroller_managerActivating component 'ur_mujoco_control'. +405.99sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +405.99sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +406.02sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +406.02sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +406.18sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +406.18sINFOcontroller_managerLoading controller 'platform_velocity_controller' +406.19sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc +406.19sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 +406.22sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +406.22sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +406.22sINFOplatform_velocity_controllerconfigure successful +406.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +406.23sINFOcontroller_managerSuccessfully switched controllers! ×7 +406.23sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +406.51sINFOobjective_server_node[2026-06-26 16:42:58.665] [moveit_pro_license] [info] ×2 +406.54sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +406.54sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +406.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +406.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +406.55sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc +406.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +406.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +406.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +406.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +406.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +406.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +406.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +406.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +406.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +406.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +406.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +406.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +406.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +406.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +406.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +406.55sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +406.55sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 +406.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042357 ms (missed cycles : 2). +406.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042357 ms (missed cycles : 2).[0m ×2 +406.59sINFOros2-12process has finished cleanly [pid 10268] ×2 +406.59sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +406.60sINFOobjective_server_nodeLoaded robot model in 0.0378321 seconds[0m ×2 +406.70sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +406.70sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +406.70sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +406.70sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +406.71sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +406.71sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +406.71sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +406.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +406.81sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +406.98sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +406.98sWARNobjective_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. +406.98sWARNobjective_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. +406.98sWARNobjective_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. +406.98sWARNobjective_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. +406.98sWARNobjective_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. +406.98sWARNobjective_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. +406.98sWARNobjective_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. +406.98sWARNobjective_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. +406.98sWARNobjective_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. +406.99sWARNobjective_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. +407.05sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +407.05sINFOcontroller_managerLoading controller 'vacuum_gripper' +407.06sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc +407.06sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 +407.09sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +407.11sINFOros2-15process has finished cleanly [pid 10271] ×2 +407.13sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +407.13sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +407.13sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +407.14sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +407.15sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +407.21sINFOcomponent_container_mtLoaded robot model in 0.375686 seconds[0m ×2 +407.43sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +407.52sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +407.53sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +407.53sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +407.54sINFOros2-13process has finished cleanly [pid 10269] ×2 +407.59sWARNplanning_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. +407.59sWARNplanning_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. +407.59sWARNplanning_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. +407.59sWARNplanning_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. +407.59sWARNplanning_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. +407.59sWARNplanning_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. +407.59sWARNplanning_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. +407.59sWARNplanning_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. +407.59sWARNplanning_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. +407.59sWARNplanning_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. +407.60sWARNplanning_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. +407.60sWARNplanning_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. +407.60sWARNplanning_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. +407.60sWARNplanning_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. +407.60sWARNplanning_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. +407.60sWARNplanning_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. +407.60sWARNplanning_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. +407.60sWARNplanning_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. +407.60sWARNplanning_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. +407.60sWARNplanning_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. +407.60sWARNplanning_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. +407.60sWARNplanning_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. +407.61sWARNplanning_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. +407.61sWARNplanning_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. +407.61sWARNplanning_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. +407.61sWARNplanning_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. +407.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873605 ms (missed cycles : 2). +407.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873605 ms (missed cycles : 2).[0m ×2 +407.61sWARNplanning_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. +407.61sWARNplanning_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. +407.67sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc +407.67sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 +407.71sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +407.71sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +407.77sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds +408.32sINFOros2_control_node[2026-06-26 16:43:00.474] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +408.32sINFOros2_control_node[2026-06-26 16:43:00.478] [info] Controller state will be published at 10 Hz. ×2 +408.32sINFOros2_control_node[2026-06-26 16:43:00.480] [info] VelocityForceController 'on_configure' succeeded. ×2 +408.39sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers +408.39sINFOmove_groupMoveGroup debug mode is ON +408.44sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +408.44sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +408.44sINFOstreaming_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) +408.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405165 ms (missed cycles : 3). +408.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405165 ms (missed cycles : 3).[0m ×2 +408.67sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +408.67sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +408.67sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc +408.68sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 +408.68sINFOros2-17process has finished cleanly [pid 10273] ×2 +408.72sINFOmove_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
********************************************************
+408.74sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +408.74sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +408.74sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +408.74sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +408.74sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +408.76sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +408.76sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +409.11sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +409.12sINFOros2-11process has finished cleanly [pid 10267] ×2 +409.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +409.13sINFOcontroller_managerLoading controller 'velocity_force_controller' +409.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc +409.14sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 +409.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +409.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +409.56sINFOros2_control_node[2026-06-26 16:43:01.718] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +409.56sINFOros2_control_node[2026-06-26 16:43:01.720] [info] Controller state will be published at 10 Hz. ×2 +409.56sINFOros2_control_node[2026-06-26 16:43:01.721] [info] VelocityForceController 'on_configure' succeeded. ×2 +409.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078040 ms (missed cycles : 2). +409.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078040 ms (missed cycles : 2).[0m ×2 +409.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +409.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +409.90sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc +409.90sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 +409.94sINFOros2-16process has finished cleanly [pid 10272] ×2 +409.98sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +409.98sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +409.99sINFOforce_torque_sensor_broadcasterconfigure successful +410.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +410.00sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +410.34sINFOros2-9process has finished cleanly [pid 10265] ×2 +410.35sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +410.61sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +410.61sINFOcontroller_managerLoading controller 'joint_velocity_controller' +410.70sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc +410.70sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 +410.74sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +410.74sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +410.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508344 ms (missed cycles : 4). +410.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508344 ms (missed cycles : 4).[0m ×2 +411.10sINFOros2_control_node[2026-06-26 16:43:03.254] [info] Controller state will be published at 20 Hz. ×2 +411.10sINFOros2_control_node[2026-06-26 16:43:03.255] [info] JointVelocityController 'on_configure' succeeded. ×2 +411.44sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +411.44sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +411.44sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc +411.44sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 +411.47sINFOros2-18process has finished cleanly [pid 10274] ×2 +411.51sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +411.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +411.53sINFOplatform_velocity_controller_nav2configure successful +411.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). +411.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 +411.95sINFOros2-14process has finished cleanly [pid 10270] ×2 +411.98sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +412.23sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +412.23sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +412.24sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc +412.24sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 +412.26sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +412.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +412.27sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +412.27sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +412.61sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +412.61sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +412.61sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc +412.61sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 +412.64sINFOros2-10process has finished cleanly [pid 10266] ×2 +412.69sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +412.71sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +412.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). +412.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 +413.35sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 +413.35sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 +413.71sINFOros2-19process has finished cleanly [pid 10275] ×2 +413.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). +413.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 +414.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 +414.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +414.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +414.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 +414.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 +414.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 +415.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). +415.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 +415.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 +415.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 +415.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 +415.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +415.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +415.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +415.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +415.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +415.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +415.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 +416.02sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +416.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). +416.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 +416.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 +417.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 6 errors · 21 warnings · 190 info |
+ 0.00sINFOros2_control_node[2026-06-26 16:43:03.254] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-26 16:43:03.255] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.34sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.34sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.34sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10274] ×2 + 0.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 0.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.43sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.43sINFOplatform_velocity_controller_nav2configure successful + 0.43sINFOros2_control_nodeconfigure successful[0m ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.88sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.88sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.14sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.14sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.14sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.14sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 1.14sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 1.17sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.17sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.17sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.17sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.17sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.18sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.18sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.51sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.51sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.51sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 1.51sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.51sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.51sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 1.55sINFOros2-10process has finished cleanly [pid 10266] ×2 + 1.60sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.60sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.88sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.88sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.26sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 2.26sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.62sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.93sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 6.10sERRORobjective_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 + 6.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 6 errors · 21 warnings · 196 info |
+ 0.00sINFOros2-9process has finished cleanly [pid 10265] ×2 + 0.01sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.40sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.40sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.41sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508344 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508344 ms (missed cycles : 4).[0m ×2 + 0.76sINFOros2_control_node[2026-06-26 16:43:03.254] [info] Controller state will be published at 20 Hz. ×2 + 0.76sINFOros2_control_node[2026-06-26 16:43:03.255] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.10sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.10sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.10sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 1.10sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.10sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.10sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 1.13sINFOros2-18process has finished cleanly [pid 10274] ×2 + 1.17sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.17sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.18sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.19sINFOplatform_velocity_controller_nav2configure successful + 1.19sINFOros2_control_nodeconfigure successful[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 1.61sINFOros2-14process has finished cleanly [pid 10270] ×2 + 1.64sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.89sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.89sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.89sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.90sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 1.90sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 1.92sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.92sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.92sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.92sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.93sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 1.93sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 1.93sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.93sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.27sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.27sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 2.27sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.27sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 2.30sINFOros2-10process has finished cleanly [pid 10266] ×2 + 2.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 2.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.37sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 3.01sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 3.01sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 3.37sINFOros2-19process has finished cleanly [pid 10275] ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.69sINFOmove_groupClearing octomap...[0m ×2 + 3.69sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 5.68sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 6.86sERRORobjective_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 + 6.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[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/2026-06-26-16-42-38-926019-8af6ecddb5fd-10131 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 6 errors · 18 warnings · 192 info |
+ 0.00sINFOros2-9process has finished cleanly [pid 10265] ×2 + 0.01sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.40sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.40sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.41sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508344 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508344 ms (missed cycles : 4).[0m ×2 + 0.76sINFOros2_control_node[2026-06-26 16:43:03.254] [info] Controller state will be published at 20 Hz. ×2 + 0.76sINFOros2_control_node[2026-06-26 16:43:03.255] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.10sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.10sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.10sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 1.10sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.10sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.10sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 1.13sINFOros2-18process has finished cleanly [pid 10274] ×2 + 1.17sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.17sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.18sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.19sINFOplatform_velocity_controller_nav2configure successful + 1.19sINFOros2_control_nodeconfigure successful[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 1.61sINFOros2-14process has finished cleanly [pid 10270] ×2 + 1.64sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.89sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.89sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.89sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.90sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 1.90sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 1.92sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.92sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.92sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.92sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.93sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 1.93sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 1.93sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.93sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.27sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.27sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 2.27sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.27sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 2.30sINFOros2-10process has finished cleanly [pid 10266] ×2 + 2.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 2.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.37sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 3.01sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 3.01sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.37sINFOros2-19process has finished cleanly [pid 10275] ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.69sINFOmove_groupClearing octomap...[0m ×2 + 3.69sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 5.68sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 6.86sERRORobjective_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 + 6.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 6 errors · 18 warnings · 192 info |
+ 0.00sINFOros2-9process has finished cleanly [pid 10265] ×2 + 0.01sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.40sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.40sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.41sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508344 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508344 ms (missed cycles : 4).[0m ×2 + 0.76sINFOros2_control_node[2026-06-26 16:43:03.254] [info] Controller state will be published at 20 Hz. ×2 + 0.76sINFOros2_control_node[2026-06-26 16:43:03.255] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.10sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.10sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.10sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 1.10sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.10sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.10sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 1.13sINFOros2-18process has finished cleanly [pid 10274] ×2 + 1.17sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.17sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.18sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.19sINFOplatform_velocity_controller_nav2configure successful + 1.19sINFOros2_control_nodeconfigure successful[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 1.61sINFOros2-14process has finished cleanly [pid 10270] ×2 + 1.64sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.89sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.89sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.89sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.90sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 1.90sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 1.92sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.92sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.92sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.92sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.93sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 1.93sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 1.93sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.93sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.27sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.27sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 2.27sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.27sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 2.30sINFOros2-10process has finished cleanly [pid 10266] ×2 + 2.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 2.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.37sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 3.01sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 3.01sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.37sINFOros2-19process has finished cleanly [pid 10275] ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.69sINFOmove_groupClearing octomap...[0m ×2 + 3.69sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 5.68sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 6.86sERRORobjective_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 + 6.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 6 errors · 18 warnings · 192 info |
+ 0.00sINFOros2-9process has finished cleanly [pid 10265] ×2 + 0.01sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.40sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.40sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.41sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508344 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508344 ms (missed cycles : 4).[0m ×2 + 0.76sINFOros2_control_node[2026-06-26 16:43:03.254] [info] Controller state will be published at 20 Hz. ×2 + 0.76sINFOros2_control_node[2026-06-26 16:43:03.255] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.10sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.10sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.10sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 1.10sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.10sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.10sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 1.13sINFOros2-18process has finished cleanly [pid 10274] ×2 + 1.17sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.17sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.18sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.19sINFOplatform_velocity_controller_nav2configure successful + 1.19sINFOros2_control_nodeconfigure successful[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 1.61sINFOros2-14process has finished cleanly [pid 10270] ×2 + 1.64sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.89sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.89sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.89sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.90sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 1.90sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 1.92sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.92sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.92sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.92sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.93sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 1.93sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 1.93sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.93sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.27sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.27sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 2.27sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.27sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 2.30sINFOros2-10process has finished cleanly [pid 10266] ×2 + 2.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 2.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.37sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 3.01sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 3.01sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.37sINFOros2-19process has finished cleanly [pid 10275] ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.69sINFOmove_groupClearing octomap...[0m ×2 + 3.69sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 5.68sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 6.86sERRORobjective_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 + 6.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 6 errors · 18 warnings · 172 info |
+ 0.00sINFOros2_control_node[2026-06-26 16:43:03.254] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-26 16:43:03.255] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.34sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.34sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.34sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10274] ×2 + 0.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 0.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.43sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.43sINFOplatform_velocity_controller_nav2configure successful + 0.43sINFOros2_control_nodeconfigure successful[0m ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.88sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.88sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.14sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.14sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.14sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.14sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 1.14sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 1.17sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.17sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.17sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.17sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×3 + 1.17sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 1.18sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.18sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.51sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.51sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.51sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 1.51sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.51sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.51sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 1.55sINFOros2-10process has finished cleanly [pid 10266] ×2 + 1.60sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.60sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.88sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.88sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.26sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 2.26sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.62sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.93sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 6.10sERRORobjective_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 + 6.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 6 errors · 24 warnings · 169 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 + 7.13sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 7.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
▾
/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 · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 6 errors · 21 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699770 ms (missed cycles : 3).[0m ×2 + 0.13sINFOros2-14process has finished cleanly [pid 10270] ×2 + 0.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc + 0.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amzd3tpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lkthj75y --params-file /tmp/launch_params_pexk5clc [0m ×2 + 0.83sINFOros2-10process has finished cleanly [pid 10266] ×2 + 0.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842417 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.509] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-26 16:43:05.511] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOros2-19process has finished cleanly [pid 10275] ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120726 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782492186.18182206 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782492186.19203901 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782492186.75138259 seconds. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782492186.77151990 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973806 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782492187.31793308 seconds. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782492187.46847796 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782492188.05116582 seconds. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782492188.11132717 seconds ×3 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752603 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782492188.65786624 seconds. ×3 + 5.39sERRORobjective_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 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782492189.35824347 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922552 ms (missed cycles : 4).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782492190.03548813 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179591 ms (missed cycles : 2).[0m ×2 | ||||