MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.3s

Avg test time

94%

Objective pass rate

Show INFO/DEBUG

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives

1 fail12 pass24 skip

✕ failed	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	1.3s	6 errors · 27 warnings · 196 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.06sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.06sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.06sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.08sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.18sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.18sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.18sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.18sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.18sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.18sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.18sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.18sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.18sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.52sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.52sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.52sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.52sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.53sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.53sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.55sINFOros2-15process has finished cleanly [pid 10246] ×2 + 0.60sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.60sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.61sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.61sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.87sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.20sINFOros2-18process has finished cleanly [pid 10249] ×2 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.33sINFOobjective_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 + 3.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.33sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.37sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.67sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 4.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378542 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378542 ms (missed cycles : 3).[0m ×2 + 6.36sWARNobjective_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 + 6.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243551 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243551 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	71.7s	3 errors · 231 warnings · 105 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730493 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730493 ms (missed cycles : 5).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028289 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028289 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.013364 ms (missed cycles : 7). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.013364 ms (missed cycles : 7).[0m ×2 + 2.53sINFOjoint_trajectory_controllerGot request to cancel goal + 2.53sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.53sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.53sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782675332.75624871 seconds ×3 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782675333.30595827 seconds. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214129 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214129 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327838 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327838 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 4.41sINFOjoint_trajectory_controllerReceived new action goal ×5 + 4.41sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 4.41sINFOros2_control_nodeReceived new action goal[0m ×10 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438145 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438145 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600680 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600680 ms (missed cycles : 4).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018839 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018839 ms (missed cycles : 3).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.408924 ms (missed cycles : 4). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.408924 ms (missed cycles : 4).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675067 ms (missed cycles : 3). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675067 ms (missed cycles : 3).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862706 ms (missed cycles : 2). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862706 ms (missed cycles : 2).[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284358 ms (missed cycles : 5). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284358 ms (missed cycles : 5).[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430975 ms (missed cycles : 2). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430975 ms (missed cycles : 2).[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921618 ms (missed cycles : 3). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921618 ms (missed cycles : 3).[0m ×2 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771166 ms (missed cycles : 2). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771166 ms (missed cycles : 2).[0m ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581679 ms (missed cycles : 3). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581679 ms (missed cycles : 3).[0m ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283121 ms (missed cycles : 2). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283121 ms (missed cycles : 2).[0m ×2 + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081181 ms (missed cycles : 2). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081181 ms (missed cycles : 2).[0m ×2 + 19.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.961768 ms (missed cycles : 6). + 19.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.961768 ms (missed cycles : 6).[0m ×2 + 20.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794518 ms (missed cycles : 2). + 20.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794518 ms (missed cycles : 2).[0m ×2 + 21.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599556 ms (missed cycles : 2). + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599556 ms (missed cycles : 2).[0m ×2 + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849121 ms (missed cycles : 2). + 22.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849121 ms (missed cycles : 2).[0m ×2 + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081822 ms (missed cycles : 2). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081822 ms (missed cycles : 2).[0m ×2 + 24.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524099 ms (missed cycles : 3). + 24.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524099 ms (missed cycles : 3).[0m ×2 + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321997 ms (missed cycles : 4). + 25.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321997 ms (missed cycles : 4).[0m ×2 + 26.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015786 ms (missed cycles : 4). + 26.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015786 ms (missed cycles : 4).[0m ×2 + 27.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817245 ms (missed cycles : 2). + 27.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817245 ms (missed cycles : 2).[0m ×2 + 28.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517044 ms (missed cycles : 4). + 28.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517044 ms (missed cycles : 4).[0m ×2 + 29.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394135 ms (missed cycles : 2). + 29.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394135 ms (missed cycles : 2).[0m ×2 + 30.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885868 ms (missed cycles : 3). + 30.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885868 ms (missed cycles : 3).[0m ×2 + 31.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502793 ms (missed cycles : 4). + 31.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502793 ms (missed cycles : 4).[0m ×2 + 31.68sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 31.68sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.12sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 32.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879145 ms (missed cycles : 2). + 32.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879145 ms (missed cycles : 2).[0m ×2 + 32.83sWARNobjective_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 + 32.83sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 33.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779598 ms (missed cycles : 2). + 33.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779598 ms (missed cycles : 2).[0m ×2 + 34.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.408613 ms (missed cycles : 7). + 34.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.408613 ms (missed cycles : 7).[0m ×2 + 35.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954825 ms (missed cycles : 3). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954825 ms (missed cycles : 3).[0m ×2 + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260491 ms (missed cycles : 5). + 36.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260491 ms (missed cycles : 5).[0m ×2 + 37.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117703 ms (missed cycles : 2). + 37.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117703 ms (missed cycles : 2).[0m ×2 + 38.94sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 38.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.615705 ms (missed cycles : 4). + 38.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.615705 ms (missed cycles : 4).[0m ×2 + 39.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111445 ms (missed cycles : 7). + 39.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111445 ms (missed cycles : 7).[0m ×2 + 41.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687106 ms (missed cycles : 3). + 41.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687106 ms (missed cycles : 3).[0m ×2 + 42.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171522 ms (missed cycles : 2). + 42.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171522 ms (missed cycles : 2).[0m ×2 + 43.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377405 ms (missed cycles : 6). + 43.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377405 ms (missed cycles : 6).[0m ×2 + 44.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143996 ms (missed cycles : 2). + 44.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143996 ms (missed cycles : 2).[0m ×2 + 45.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135055 ms (missed cycles : 5). + 45.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135055 ms (missed cycles : 5).[0m ×2 + 46.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.334888 ms (missed cycles : 4). + 46.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.334888 ms (missed cycles : 4).[0m ×2 + 47.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101854 ms (missed cycles : 2). + 47.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101854 ms (missed cycles : 2).[0m ×2 + 48.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075547 ms (missed cycles : 4). + 48.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075547 ms (missed cycles : 4).[0m ×2 + 49.00sINFOobjective_server_nodePlanning for 39 path waypoints. ×3 + 49.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535291 ms (missed cycles : 3). + 49.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535291 ms (missed cycles : 3).[0m ×2 + 50.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163425 ms (missed cycles : 2). + 50.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163425 ms (missed cycles : 2).[0m ×2 + 51.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.809331 ms (missed cycles : 5). + 51.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.809331 ms (missed cycles : 5).[0m ×2 + 52.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733336 ms (missed cycles : 3). + 52.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733336 ms (missed cycles : 3).[0m ×2 + 53.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905792 ms (missed cycles : 2). + 53.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905792 ms (missed cycles : 2).[0m ×2 + 55.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049808 ms (missed cycles : 2). + 55.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049808 ms (missed cycles : 2).[0m ×2 + 56.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571921 ms (missed cycles : 4). + 56.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571921 ms (missed cycles : 4).[0m ×2 + 57.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.490506 ms (missed cycles : 6). + 57.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.490506 ms (missed cycles : 6).[0m ×2 + 58.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040273 ms (missed cycles : 2). + 58.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040273 ms (missed cycles : 2).[0m ×2 + 59.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848895 ms (missed cycles : 2). + 59.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848895 ms (missed cycles : 2).[0m ×2 + 60.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903453 ms (missed cycles : 3). + 60.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903453 ms (missed cycles : 3).[0m ×2 + 61.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563302 ms (missed cycles : 2). + 61.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563302 ms (missed cycles : 2).[0m ×2 + 61.84sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 62.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432688 ms (missed cycles : 2). + 62.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432688 ms (missed cycles : 2).[0m ×2 + 63.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844562 ms (missed cycles : 4). + 63.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844562 ms (missed cycles : 4).[0m ×2 + 64.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286057 ms (missed cycles : 2). + 64.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286057 ms (missed cycles : 2).[0m ×2 + 65.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832720 ms (missed cycles : 2). + 65.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832720 ms (missed cycles : 2).[0m ×2 + 66.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667159 ms (missed cycles : 4). + 66.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667159 ms (missed cycles : 4).[0m ×2 + 67.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695637 ms (missed cycles : 2). + 67.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695637 ms (missed cycles : 2).[0m ×2 + 68.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678339 ms (missed cycles : 4). + 68.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678339 ms (missed cycles : 4).[0m ×2 + 69.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198356 ms (missed cycles : 2). + 69.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198356 ms (missed cycles : 2).[0m ×2 + 70.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483049 ms (missed cycles : 2). + 70.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483049 ms (missed cycles : 2).[0m ×2 + 71.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4). + 71.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4).[0m ×2 + 72.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2). + 72.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2).[0m ×2 + 73.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2). + 73.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2).[0m ×2 + 74.20sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782675404.41612506 seconds ×3 + 74.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782675404.96998262 seconds. ×3 + 74.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4). + 74.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4).[0m ×2 + 75.09sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 76.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2). + 76.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2).[0m ×2 + 77.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 ms (missed cycles : 3). + 77.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.0s	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: 1782675172.88609385 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479710 ms (missed cycles : 3). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479710 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782675173.43287468 seconds. ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495822 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495822 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (2.0401e-05 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.39sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.39sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.39sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.39sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498097 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498097 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782675176.36300135 seconds ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782194 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782194 ms (missed cycles : 4).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782675176.91289377 seconds. ×3 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265620 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265620 ms (missed cycles : 3).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871942 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871942 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817146 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817146 ms (missed cycles : 2).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185285 ms (missed cycles : 3). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185285 ms (missed cycles : 3).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178404 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178404 ms (missed cycles : 2).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887642 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887642 ms (missed cycles : 2).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295516 ms (missed cycles : 3). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295516 ms (missed cycles : 3).[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763132 ms (missed cycles : 3). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763132 ms (missed cycles : 3).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409129 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409129 ms (missed cycles : 2).[0m ×2 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289612 ms (missed cycles : 2). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289612 ms (missed cycles : 2).[0m ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983255 ms (missed cycles : 5). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983255 ms (missed cycles : 5).[0m ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.036865 ms (missed cycles : 4). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.036865 ms (missed cycles : 4).[0m ×2 + 16.27sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159006 ms (missed cycles : 2). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159006 ms (missed cycles : 2).[0m ×2 + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293253 ms (missed cycles : 2). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293253 ms (missed cycles : 2).[0m ×2 + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706257 ms (missed cycles : 2). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706257 ms (missed cycles : 2).[0m ×2 + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523797 ms (missed cycles : 4). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523797 ms (missed cycles : 4).[0m ×2 + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922201 ms (missed cycles : 2). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922201 ms (missed cycles : 2).[0m ×2 + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408051 ms (missed cycles : 2). + 22.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408051 ms (missed cycles : 2).[0m ×2 + 23.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310637 ms (missed cycles : 2). + 23.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310637 ms (missed cycles : 2).[0m ×2 + 24.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098401 ms (missed cycles : 5). + 24.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098401 ms (missed cycles : 5).[0m ×2 + 25.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016821 ms (missed cycles : 2). + 25.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016821 ms (missed cycles : 2).[0m ×2 + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885218 ms (missed cycles : 2). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885218 ms (missed cycles : 2).[0m ×2 + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029568 ms (missed cycles : 3). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029568 ms (missed cycles : 3).[0m ×2 + 28.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.182527 ms (missed cycles : 6). + 28.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.182527 ms (missed cycles : 6).[0m ×2 + 29.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765807 ms (missed cycles : 2). + 29.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765807 ms (missed cycles : 2).[0m ×2 + 30.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.137993 ms (missed cycles : 6). + 30.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.137993 ms (missed cycles : 6).[0m ×2 + 31.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943716 ms (missed cycles : 3). + 31.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943716 ms (missed cycles : 3).[0m ×2 + 32.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117644 ms (missed cycles : 4). + 32.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117644 ms (missed cycles : 4).[0m ×2 + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140355 ms (missed cycles : 2). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140355 ms (missed cycles : 2).[0m ×2 + 34.88sWARNobjective_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 + 34.88sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754103 ms (missed cycles : 2). + 35.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754103 ms (missed cycles : 2).[0m ×2 + 36.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815076 ms (missed cycles : 6). + 36.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.815076 ms (missed cycles : 6).[0m ×2 + 37.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605327 ms (missed cycles : 4). + 37.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605327 ms (missed cycles : 4).[0m ×2 + 38.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070380 ms (missed cycles : 2). + 38.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070380 ms (missed cycles : 2).[0m ×2 + 39.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937294 ms (missed cycles : 2). + 39.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937294 ms (missed cycles : 2).[0m ×2 + 40.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954562 ms (missed cycles : 2). + 40.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954562 ms (missed cycles : 2).[0m ×2 + 41.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349379 ms (missed cycles : 2). + 41.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349379 ms (missed cycles : 2).[0m ×2 + 42.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889962 ms (missed cycles : 2). + 42.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889962 ms (missed cycles : 2).[0m ×2 + 43.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760816 ms (missed cycles : 3). + 43.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760816 ms (missed cycles : 3).[0m ×2 + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339545 ms (missed cycles : 3). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339545 ms (missed cycles : 3).[0m ×2 + 45.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895863 ms (missed cycles : 3). + 45.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895863 ms (missed cycles : 3).[0m ×2 + 46.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303705 ms (missed cycles : 5). + 46.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303705 ms (missed cycles : 5).[0m ×2 + 47.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.843555 ms (missed cycles : 5). + 47.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.843555 ms (missed cycles : 5).[0m ×2 + 48.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957915 ms (missed cycles : 2). + 48.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957915 ms (missed cycles : 2).[0m ×2 + 49.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709261 ms (missed cycles : 2). + 49.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709261 ms (missed cycles : 2).[0m ×2 + 50.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621949 ms (missed cycles : 4). + 50.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621949 ms (missed cycles : 4).[0m ×2 + 52.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588846 ms (missed cycles : 3). + 52.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588846 ms (missed cycles : 3).[0m ×2 + 53.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833908 ms (missed cycles : 2). + 53.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833908 ms (missed cycles : 2).[0m ×2 + 54.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.574567 ms (missed cycles : 4). + 54.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.574567 ms (missed cycles : 4).[0m ×2 + 55.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926135 ms (missed cycles : 2). + 55.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926135 ms (missed cycles : 2).[0m ×2 + 56.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256023 ms (missed cycles : 2). + 56.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256023 ms (missed cycles : 2).[0m ×2 + 57.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843232 ms (missed cycles : 4). + 57.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843232 ms (missed cycles : 4).[0m ×2 + 58.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049158 ms (missed cycles : 4). + 58.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049158 ms (missed cycles : 4).[0m ×2 + 59.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442034 ms (missed cycles : 4). + 59.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442034 ms (missed cycles : 4).[0m ×2 + 60.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782675233.35303020 seconds ×3 + 60.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608309 ms (missed cycles : 3). + 60.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608309 ms (missed cycles : 3).[0m ×2 + 61.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782675233.91477108 seconds. ×3 + 61.32sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 61.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512823 ms (missed cycles : 4). + 61.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512823 ms (missed cycles : 4).[0m ×2 + 62.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700923 ms (missed cycles : 5). + 62.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700923 ms (missed cycles : 5).[0m ×2 + 63.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388477 ms (missed cycles : 2). + 63.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388477 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	55.0s	180 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483049 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483049 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.35sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782675404.41612506 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782675404.96998262 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.43sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 ms (missed cycles : 3).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334341 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334341 ms (missed cycles : 2).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040640 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040640 ms (missed cycles : 2).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955651 ms (missed cycles : 3). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955651 ms (missed cycles : 3).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277412 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277412 ms (missed cycles : 2).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016508 ms (missed cycles : 4). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016508 ms (missed cycles : 4).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673284 ms (missed cycles : 2). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673284 ms (missed cycles : 2).[0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993999 ms (missed cycles : 3). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993999 ms (missed cycles : 3).[0m ×2 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855264 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855264 ms (missed cycles : 3).[0m ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809187 ms (missed cycles : 4). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809187 ms (missed cycles : 4).[0m ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.707729 ms (missed cycles : 5). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.707729 ms (missed cycles : 5).[0m ×2 + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237506 ms (missed cycles : 4). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237506 ms (missed cycles : 4).[0m ×2 + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775996 ms (missed cycles : 2). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775996 ms (missed cycles : 2).[0m ×2 + 20.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944354 ms (missed cycles : 3). + 20.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944354 ms (missed cycles : 3).[0m ×2 + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320264 ms (missed cycles : 4). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320264 ms (missed cycles : 4).[0m ×2 + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947466 ms (missed cycles : 3). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947466 ms (missed cycles : 3).[0m ×2 + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311743 ms (missed cycles : 3). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311743 ms (missed cycles : 3).[0m ×2 + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.630105 ms (missed cycles : 4). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.630105 ms (missed cycles : 4).[0m ×2 + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094898 ms (missed cycles : 2). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094898 ms (missed cycles : 2).[0m ×2 + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654110 ms (missed cycles : 2). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654110 ms (missed cycles : 2).[0m ×2 + 27.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788167 ms (missed cycles : 3). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788167 ms (missed cycles : 3).[0m ×2 + 28.13sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517985 ms (missed cycles : 2). + 28.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517985 ms (missed cycles : 2).[0m ×2 + 29.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235116 ms (missed cycles : 2). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235116 ms (missed cycles : 2).[0m ×2 + 30.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927522 ms (missed cycles : 3). + 30.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927522 ms (missed cycles : 3).[0m ×2 + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812215 ms (missed cycles : 2). + 31.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812215 ms (missed cycles : 2).[0m ×2 + 32.70sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 32.70sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 32.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289418 ms (missed cycles : 4). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289418 ms (missed cycles : 4).[0m ×2 + 33.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583395 ms (missed cycles : 3). + 33.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583395 ms (missed cycles : 3).[0m ×2 + 34.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212154 ms (missed cycles : 2). + 34.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212154 ms (missed cycles : 2).[0m ×2 + 35.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926996 ms (missed cycles : 2). + 35.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926996 ms (missed cycles : 2).[0m ×2 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667641 ms (missed cycles : 4). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667641 ms (missed cycles : 4).[0m ×2 + 38.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969657 ms (missed cycles : 2). + 38.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969657 ms (missed cycles : 2).[0m ×2 + 39.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497559 ms (missed cycles : 2). + 39.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497559 ms (missed cycles : 2).[0m ×2 + 40.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064005 ms (missed cycles : 2). + 40.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064005 ms (missed cycles : 2).[0m ×2 + 41.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989370 ms (missed cycles : 4). + 41.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989370 ms (missed cycles : 4).[0m ×2 + 42.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499116 ms (missed cycles : 3). + 42.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499116 ms (missed cycles : 3).[0m ×2 + 43.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267533 ms (missed cycles : 2). + 43.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267533 ms (missed cycles : 2).[0m ×2 + 44.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936631 ms (missed cycles : 3). + 44.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936631 ms (missed cycles : 3).[0m ×2 + 45.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350247 ms (missed cycles : 3). + 45.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350247 ms (missed cycles : 3).[0m ×2 + 46.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716225 ms (missed cycles : 2). + 46.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716225 ms (missed cycles : 2).[0m ×2 + 47.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201224 ms (missed cycles : 2). + 47.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201224 ms (missed cycles : 2).[0m ×2 + 48.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025444 ms (missed cycles : 2). + 48.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025444 ms (missed cycles : 2).[0m ×2 + 49.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172197 ms (missed cycles : 2). + 49.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172197 ms (missed cycles : 2).[0m ×2 + 50.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036930 ms (missed cycles : 3). + 50.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036930 ms (missed cycles : 3).[0m ×2 + 51.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.481413 ms (missed cycles : 7). + 51.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.481413 ms (missed cycles : 7).[0m ×2 + 52.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673189 ms (missed cycles : 5). + 52.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673189 ms (missed cycles : 5).[0m ×2 + 54.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392554 ms (missed cycles : 3). + 54.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392554 ms (missed cycles : 3).[0m ×2 + 55.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088951 ms (missed cycles : 2). + 55.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088951 ms (missed cycles : 2).[0m ×2 + 56.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742494 ms (missed cycles : 5). + 56.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742494 ms (missed cycles : 5).[0m ×2 + 57.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530306 ms (missed cycles : 2). + 57.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530306 ms (missed cycles : 2).[0m ×2 + 58.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782675459.39012074 seconds ×3 + 58.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501619 ms (missed cycles : 3). + 58.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501619 ms (missed cycles : 3).[0m ×2 + 58.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782675459.93925786 seconds. ×3 + 59.21sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 59.23sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 59.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052525 ms (missed cycles : 4). + 59.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052525 ms (missed cycles : 4).[0m ×2 + 60.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579312 ms (missed cycles : 4). + 60.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579312 ms (missed cycles : 4).[0m ×2 + 61.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064309 ms (missed cycles : 5). + 61.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064309 ms (missed cycles : 5).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.7s	174 warnings · 75 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533022 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533022 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650973 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650973 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969026 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969026 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005456 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005456 ms (missed cycles : 2).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.29sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.34sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782675269.21402502 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` starting at time: 1782675269.77143836 seconds. ×3 + 3.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347396 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347396 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.16sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.16sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658430 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658430 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261741 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261741 ms (missed cycles : 3).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578664 ms (missed cycles : 3). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578664 ms (missed cycles : 3).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989095 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989095 ms (missed cycles : 2).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631857 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631857 ms (missed cycles : 2).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853940 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853940 ms (missed cycles : 2).[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911773 ms (missed cycles : 3). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911773 ms (missed cycles : 3).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777917 ms (missed cycles : 5). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777917 ms (missed cycles : 5).[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285378 ms (missed cycles : 2). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285378 ms (missed cycles : 2).[0m ×2 + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552237 ms (missed cycles : 4). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552237 ms (missed cycles : 4).[0m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827463 ms (missed cycles : 5). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827463 ms (missed cycles : 5).[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314094 ms (missed cycles : 2). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314094 ms (missed cycles : 2).[0m ×2 + 17.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472927 ms (missed cycles : 4). + 17.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472927 ms (missed cycles : 4).[0m ×2 + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320579 ms (missed cycles : 2). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320579 ms (missed cycles : 2).[0m ×2 + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.448632 ms (missed cycles : 4). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.448632 ms (missed cycles : 4).[0m ×2 + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155622 ms (missed cycles : 4). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155622 ms (missed cycles : 4).[0m ×2 + 21.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.512162 ms (missed cycles : 6). + 21.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.512162 ms (missed cycles : 6).[0m ×2 + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211650 ms (missed cycles : 2). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211650 ms (missed cycles : 2).[0m ×2 + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.485554 ms (missed cycles : 7). + 24.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.485554 ms (missed cycles : 7).[0m ×2 + 25.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791700 ms (missed cycles : 5). + 25.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791700 ms (missed cycles : 5).[0m ×2 + 26.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888071 ms (missed cycles : 3). + 26.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888071 ms (missed cycles : 3).[0m ×2 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734391 ms (missed cycles : 2). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734391 ms (missed cycles : 2).[0m ×2 + 28.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627789 ms (missed cycles : 2). + 28.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627789 ms (missed cycles : 2).[0m ×2 + 29.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912555 ms (missed cycles : 3). + 29.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912555 ms (missed cycles : 3).[0m ×2 + 30.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705239 ms (missed cycles : 4). + 30.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705239 ms (missed cycles : 4).[0m ×2 + 31.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815553 ms (missed cycles : 2). + 31.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815553 ms (missed cycles : 2).[0m ×2 + 32.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870447 ms (missed cycles : 2). + 32.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870447 ms (missed cycles : 2).[0m ×2 + 32.73sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 33.45sWARNobjective_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 + 33.45sINFOobjective_server_nodePlanning for 53 path waypoints. ×3 + 33.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055663 ms (missed cycles : 2). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055663 ms (missed cycles : 2).[0m ×2 + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.210861 ms (missed cycles : 4). + 34.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.210861 ms (missed cycles : 4).[0m ×2 + 35.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.530725 ms (missed cycles : 7). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.530725 ms (missed cycles : 7).[0m ×2 + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867203 ms (missed cycles : 4). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867203 ms (missed cycles : 4).[0m ×2 + 37.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852672 ms (missed cycles : 3). + 37.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852672 ms (missed cycles : 3).[0m ×2 + 39.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400291 ms (missed cycles : 3). + 39.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400291 ms (missed cycles : 3).[0m ×2 + 40.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587912 ms (missed cycles : 5). + 40.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587912 ms (missed cycles : 5).[0m ×2 + 41.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448324 ms (missed cycles : 2). + 41.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448324 ms (missed cycles : 2).[0m ×2 + 42.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182981 ms (missed cycles : 2). + 42.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182981 ms (missed cycles : 2).[0m ×2 + 43.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757811 ms (missed cycles : 2). + 43.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757811 ms (missed cycles : 2).[0m ×2 + 43.27sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040468 ms (missed cycles : 3). + 44.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040468 ms (missed cycles : 3).[0m ×2 + 45.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.005873 ms (missed cycles : 5). + 45.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.005873 ms (missed cycles : 5).[0m ×2 + 46.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950643 ms (missed cycles : 2). + 46.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950643 ms (missed cycles : 2).[0m ×2 + 47.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790974 ms (missed cycles : 4). + 47.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790974 ms (missed cycles : 4).[0m ×2 + 48.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.583883 ms (missed cycles : 4). + 48.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.583883 ms (missed cycles : 4).[0m ×2 + 49.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765320 ms (missed cycles : 2). + 49.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765320 ms (missed cycles : 2).[0m ×2 + 50.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395344 ms (missed cycles : 4). + 50.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395344 ms (missed cycles : 4).[0m ×2 + 51.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687313 ms (missed cycles : 3). + 51.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687313 ms (missed cycles : 3).[0m ×2 + 52.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181201 ms (missed cycles : 2). + 52.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181201 ms (missed cycles : 2).[0m ×2 + 53.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286841 ms (missed cycles : 4). + 53.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286841 ms (missed cycles : 4).[0m ×2 + 54.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835047 ms (missed cycles : 3). + 54.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835047 ms (missed cycles : 3).[0m ×2 + 55.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023517 ms (missed cycles : 3). + 55.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023517 ms (missed cycles : 3).[0m ×2 + 56.04sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782675321.91156459 seconds ×3 + 56.58sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782675322.45162678 seconds. ×3 + 56.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758450 ms (missed cycles : 5). + 56.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758450 ms (missed cycles : 5).[0m ×2 + 56.91sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 57.95sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 58.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510117 ms (missed cycles : 4). + 58.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510117 ms (missed cycles : 4).[0m ×2 + 59.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551258 ms (missed cycles : 4). + 59.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551258 ms (missed cycles : 4).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.4s	6 errors · 141 warnings · 144 info
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 0.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.00sINFOmove_groupClearing octomap...[0m ×2 + 0.00sINFOmove_groupOctomap cleared.[0m ×2 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 0.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 0.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 1.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 1.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 1.85sINFOobjective_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 + 1.85sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 1.85sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.85sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 1.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 1.85sINFOcontroller_managerSuccessfully switched controllers! ×3 + 1.85sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 1.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 1.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 1.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 1.88sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 1.88sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 1.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 1.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 1.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 2.43sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 2.89sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.19sERRORobjective_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 + 3.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378542 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378542 ms (missed cycles : 3).[0m ×2 + 4.87sWARNobjective_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 + 4.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.13sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243551 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243551 ms (missed cycles : 2).[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108868 ms (missed cycles : 2). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108868 ms (missed cycles : 2).[0m ×2 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706845 ms (missed cycles : 2). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706845 ms (missed cycles : 2).[0m ×2 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533370 ms (missed cycles : 3). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533370 ms (missed cycles : 3).[0m ×2 + 10.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181577 ms (missed cycles : 4). + 10.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181577 ms (missed cycles : 4).[0m ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884828 ms (missed cycles : 5). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884828 ms (missed cycles : 5).[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769874 ms (missed cycles : 3). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769874 ms (missed cycles : 3).[0m ×2 + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332599 ms (missed cycles : 2). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332599 ms (missed cycles : 2).[0m ×2 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298192 ms (missed cycles : 2). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298192 ms (missed cycles : 2).[0m ×2 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900310 ms (missed cycles : 3). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900310 ms (missed cycles : 3).[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669642 ms (missed cycles : 3). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669642 ms (missed cycles : 3).[0m ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989549 ms (missed cycles : 3). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989549 ms (missed cycles : 3).[0m ×2 + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099150 ms (missed cycles : 3). + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099150 ms (missed cycles : 3).[0m ×2 + 19.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994398 ms (missed cycles : 3). + 19.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994398 ms (missed cycles : 3).[0m ×2 + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899907 ms (missed cycles : 5). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899907 ms (missed cycles : 5).[0m ×2 + 21.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487028 ms (missed cycles : 2). + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487028 ms (missed cycles : 2).[0m ×2 + 23.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962583 ms (missed cycles : 2). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962583 ms (missed cycles : 2).[0m ×2 + 24.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761053 ms (missed cycles : 3). + 24.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761053 ms (missed cycles : 3).[0m ×2 + 25.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773277 ms (missed cycles : 2). + 25.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773277 ms (missed cycles : 2).[0m ×2 + 26.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607124 ms (missed cycles : 2). + 26.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607124 ms (missed cycles : 2).[0m ×2 + 27.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321856 ms (missed cycles : 4). + 27.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321856 ms (missed cycles : 4).[0m ×2 + 28.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898838 ms (missed cycles : 2). + 28.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898838 ms (missed cycles : 2).[0m ×2 + 29.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041211 ms (missed cycles : 5). + 29.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041211 ms (missed cycles : 5).[0m ×2 + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236509 ms (missed cycles : 2). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236509 ms (missed cycles : 2).[0m ×2 + 32.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194872 ms (missed cycles : 2). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194872 ms (missed cycles : 2).[0m ×2 + 33.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971482 ms (missed cycles : 4). + 33.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971482 ms (missed cycles : 4).[0m ×2 + 34.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194045 ms (missed cycles : 2). + 34.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194045 ms (missed cycles : 2).[0m ×2 + 35.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903937 ms (missed cycles : 2). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903937 ms (missed cycles : 2).[0m ×2 + 36.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752785 ms (missed cycles : 2). + 36.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752785 ms (missed cycles : 2).[0m ×2 + 37.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932707 ms (missed cycles : 3). + 37.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932707 ms (missed cycles : 3).[0m ×2 + 38.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946205 ms (missed cycles : 3). + 38.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946205 ms (missed cycles : 3).[0m ×2 + 39.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440008 ms (missed cycles : 4). + 39.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440008 ms (missed cycles : 4).[0m ×2 + 40.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065541 ms (missed cycles : 4). + 40.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065541 ms (missed cycles : 4).[0m ×2 + 41.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.389291 ms (missed cycles : 5). + 41.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.389291 ms (missed cycles : 5).[0m ×2 + 42.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836542 ms (missed cycles : 3). + 42.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836542 ms (missed cycles : 3).[0m ×2 + 43.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571126 ms (missed cycles : 4). + 43.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571126 ms (missed cycles : 4).[0m ×2 + 44.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585473 ms (missed cycles : 3). + 44.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585473 ms (missed cycles : 3).[0m ×2 + 45.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415693 ms (missed cycles : 4). + 45.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415693 ms (missed cycles : 4).[0m ×2 + 46.62sINFOjoint_trajectory_controllerGoal reached, success! + 46.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782675172.88609385 seconds ×3 + 46.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479710 ms (missed cycles : 3). + 46.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479710 ms (missed cycles : 3).[0m ×2 + 47.19sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782675173.43287468 seconds. ×3 + 47.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495822 ms (missed cycles : 2). + 47.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495822 ms (missed cycles : 2).[0m ×2 + 47.99sINFOobjective_server_nodeFound path in 0 iterations (2.0401e-05 s). ×2 + 47.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498097 ms (missed cycles : 3). + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498097 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	30.3s	108 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700923 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700923 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388477 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388477 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838247 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838247 ms (missed cycles : 3).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.29sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.32sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782675237.87492085 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953900 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953900 ms (missed cycles : 3).[0m ×2 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.86sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782675239.41384029 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949276 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949276 ms (missed cycles : 4).[0m ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.25sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.25sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813076 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813076 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406247 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406247 ms (missed cycles : 4).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604426 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604426 ms (missed cycles : 3).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665007 ms (missed cycles : 4). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665007 ms (missed cycles : 4).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751202 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751202 ms (missed cycles : 2).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187160 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187160 ms (missed cycles : 2).[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768398 ms (missed cycles : 2). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768398 ms (missed cycles : 2).[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241701 ms (missed cycles : 5). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241701 ms (missed cycles : 5).[0m ×2 + 13.58sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338340 ms (missed cycles : 2). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338340 ms (missed cycles : 2).[0m ×2 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.201941 ms (missed cycles : 5). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.201941 ms (missed cycles : 5).[0m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221656 ms (missed cycles : 2). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221656 ms (missed cycles : 2).[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328019 ms (missed cycles : 2). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328019 ms (missed cycles : 2).[0m ×2 + 17.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396399 ms (missed cycles : 2). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396399 ms (missed cycles : 2).[0m ×2 + 19.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338536 ms (missed cycles : 2). + 19.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338536 ms (missed cycles : 2).[0m ×2 + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387985 ms (missed cycles : 3). + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387985 ms (missed cycles : 3).[0m ×2 + 21.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944174 ms (missed cycles : 2). + 21.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944174 ms (missed cycles : 2).[0m ×2 + 22.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544235 ms (missed cycles : 3). + 22.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544235 ms (missed cycles : 3).[0m ×2 + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909323 ms (missed cycles : 2). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909323 ms (missed cycles : 2).[0m ×2 + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.930084 ms (missed cycles : 5). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.930084 ms (missed cycles : 5).[0m ×2 + 25.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.008770 ms (missed cycles : 7). + 25.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.008770 ms (missed cycles : 7).[0m ×2 + 26.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373663 ms (missed cycles : 3). + 26.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373663 ms (missed cycles : 3).[0m ×2 + 27.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288444 ms (missed cycles : 2). + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288444 ms (missed cycles : 2).[0m ×2 + 28.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992406 ms (missed cycles : 2). + 28.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992406 ms (missed cycles : 2).[0m ×2 + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922621 ms (missed cycles : 2). + 29.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922621 ms (missed cycles : 2).[0m ×2 + 30.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533022 ms (missed cycles : 3). + 30.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533022 ms (missed cycles : 3).[0m ×2 + 31.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650973 ms (missed cycles : 4). + 31.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650973 ms (missed cycles : 4).[0m ×2 + 32.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969026 ms (missed cycles : 3). + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969026 ms (missed cycles : 3).[0m ×2 + 33.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005456 ms (missed cycles : 2). + 33.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005456 ms (missed cycles : 2).[0m ×2 + 33.66sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782675269.21402502 seconds ×3 + 34.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782675269.77143836 seconds. ×3 + 34.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347396 ms (missed cycles : 2). + 34.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347396 ms (missed cycles : 2).[0m ×2 + 35.44sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 35.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658430 ms (missed cycles : 2). + 35.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658430 ms (missed cycles : 2).[0m ×2 + 36.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261741 ms (missed cycles : 3). + 36.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261741 ms (missed cycles : 3).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	12.6s	66 errors · 30 warnings · 361 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217772 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692361 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692361 ms (missed cycles : 2).[0m ×2 + 1.64sINFOjoint_trajectory_controllerGoal reached, success! + 1.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.67sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782675471.76111341 seconds ×3 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782675472.33889771 seconds. ×3 + 2.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.25sINFOmove_groupClearing octomap...[0m ×2 + 2.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.25sINFOmove_groupOctomap cleared.[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782675472.81904125 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905650 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905650 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782675473.36559224 seconds. ×3 + 3.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782675473.79572892 seconds ×3 + 3.94sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897542 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897542 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063019 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063019 ms (missed cycles : 4).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621332 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621332 ms (missed cycles : 3).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063894 ms (missed cycles : 4). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063894 ms (missed cycles : 4).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128897 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128897 ms (missed cycles : 2).[0m ×2 + 9.22sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.22sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.23sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.23sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.24sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.24sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.24sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.24sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.25sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.25sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.25sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.26sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.26sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 9.28sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.28sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.28sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.28sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.29sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.29sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 9.30sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.31sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.31sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.31sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 9.33sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484248 ms (missed cycles : 2). + 9.35sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 9.36sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 9.38sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 9.40sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 9.41sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 9.43sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 9.44sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 9.46sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 9.47sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.49sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 9.49sINFOcontroller_managerShutdown request received.... + 9.49sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.49sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.49sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.49sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 9.49sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.49sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 9.49sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 9.49sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.49sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.49sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 9.49sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 9.49sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 9.49sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 9.49sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 9.49sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 9.49sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 9.49sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.49sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.49sINFOcontroller_managerShutting down the controller manager. + 9.50sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 9.52sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 9.54sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 9.55sINFOweb_video_server-31process has finished cleanly [pid 10324] ×2 + 9.56sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 9.56sINFOtf2_web_republisher_node-30process has finished cleanly [pid 10322] ×2 + 9.56sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.58sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 9.59sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 9.61sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 9.61sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 9.61sINFOcontroller_serverCleaning up + 9.61sINFOlocal_costmap.local_costmapCleaning up + 9.61sERRORui_teleop_bridge-28process has died [pid 10320, 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_thac985x']. ×2 + 9.61sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484248 ms (missed cycles : 2).[0m ×2 + 9.61sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 9.61sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 9.61sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 9.61sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 9.61sINFOui_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 + 9.61sINFOui_teleop_bridgerclpy.shutdown() ×2 + 9.61sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 9.61sINFOui_teleop_bridge_shutdown(context=context) ×2 + 9.61sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 9.61sINFOui_teleop_bridgecontext.shutdown() ×2 + 9.61sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 9.61sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 9.61sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 9.61sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.61sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.61sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.61sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.62sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 9.62sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.62sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.62sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.62sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.62sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.62sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.62sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.62sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.62sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 9.62sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.62sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 9.62sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 9.62sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.62sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.62sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 9.62sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 9.62sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 9.62sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 9.62sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 9.62sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 9.62sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.62sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.62sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.62sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.62sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.62sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.62sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.62sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.62sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 9.62sINFOobjective_server_node[2026-06-28 19:37:59.580] [moveit_pro_license] [info] ×2 + 9.62sINFOobjective_server_node************************************************* ×4 + 9.62sINFOobjective_server_node* MoveIt Pro License ×2 + 9.62sINFOobjective_server_node* Application has successfully terminated ×2 + 9.62sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 9.62sERRORobjective_server_node_main-25process has died [pid 10315, 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_mpjc0ks3 --params-file /tmp/launch_params_kkzp8qhs --params-file /tmp/launch_params__q_klj0z --params-file /tmp/launch_params_6pnnri72 --params-file /tmp/launch_params_ubocsjlx --params-file /tmp/launch_params_lbckrfid --params-file /tmp/launch_params_tizt7hgz --params-file /tmp/launch_params_aqdozmm6 --params-file /tmp/launch_params_ujd5y7_n']. ×2 + 9.62sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 9.62sINFOmove_groupDeleting MoveItCpp[0m ×2 + 9.63sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.63sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558eff8616a4, in _start ×2 + 9.63sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f45d0d8e28a, in __libc_start_main ×2 + 9.63sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f45d0d8e1d0, in ×2 + 9.63sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f45d0dabbbd, in exit ×2 + 9.63sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f45d0daba75, in ×2 + 9.63sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f45d127d4a2, in spdlog::details::registry::~registry() ×2 + 9.63sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f45d128869d, 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 + 9.63sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f45d1282965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 9.63sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558eff868315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 9.63sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558eff8675a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 9.63sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558eff863b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 9.63sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558eff861d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 9.63sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f45d1924454, in rclcpp::Node::~Node() ×2 + 9.63sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f45d18df515, in ×2 + 9.63sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 9.63sINFOodom_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 + 9.63sINFOodom_qos_relay.pymain() ×2 + 9.63sINFOodom_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 + 9.63sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 9.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 9.63sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 9.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 9.63sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 9.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 9.63sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 9.63sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 9.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 9.63sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 9.63sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 9.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 9.63sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 9.63sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 9.63sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f45d1922d20, in ×2 + 9.63sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f45d1922c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 9.63sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f45d18df5d9, in ×2 + 9.63sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f45d18e4161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 9.63sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f459525c120]) ×2 + 9.63sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 9.63sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 9.63sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 9.63sINFOmove_groupStopping world geometry monitor[0m ×2 + 9.63sINFOmove_groupStopping planning scene monitor[0m ×2 + 9.64sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 9.64sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 9.65sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 9.65sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 9.65sINFOmap_serverDeactivating + 9.65sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 9.66sINFOmap_serverCleaning up + 9.66sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 9.66sINFOsmoother_serverCleaning up + 9.67sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 9.67sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 9.67sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 9.69sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 9.69sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 9.69sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 9.69sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 9.69sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 9.69sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 9.69sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 9.69sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 9.69sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 9.69sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 9.69sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 9.70sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 9.71sINFOros2_control_nodepublish_async_failures_ 8[0m ×2 + 9.71sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.43sINFOexecute_objective_bridge-27process has finished cleanly [pid 10319] ×2 + 10.44sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 10297] ×2 + 10.46sINFOmove_joint_resampler_node-23process has finished cleanly [pid 10254] ×2 + 10.51sINFOparameter_manager_node-21process has finished cleanly [pid 10252] ×2 + 10.52sINFOwaypoint_manager_node-22process has finished cleanly [pid 10253] ×2 + 10.54sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 10161] ×2 + 10.57sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10160] ×2 + 10.60sINFOstatic_transform_publisher-4process has finished cleanly [pid 10158] ×2 + 10.61sINFOstatic_transform_publisher-3process has finished cleanly [pid 10157] ×2 + 10.63sINFOstatic_transform_publisher-2process has finished cleanly [pid 10156] ×2 + 10.63sINFOcomponent_container_mt-26process has finished cleanly [pid 10318] ×2 + 10.64sERRORodom_qos_relay.py-5process has died [pid 10159, 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 + 10.65sINFOmove_group-20process has finished cleanly [pid 10251] ×2 + 11.26sINFOros2_control_node-8process has finished cleanly [pid 10162] ×2 + 11.95sINFOweb_bridge-29process has finished cleanly [pid 10321] ×2 + 11.95sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 14.22sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 14.23sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×2 + 14.24sERRORcomponent_container_isolated-1process has died [pid 10155, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_9zja5uz7 --params-file /tmp/launch_params___bomrhg -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	12.4s	54 warnings · 111 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088951 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088951 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742494 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742494 ms (missed cycles : 5).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530306 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530306 ms (missed cycles : 2).[0m ×2 + 3.12sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.13sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782675459.39012074 seconds ×3 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501619 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501619 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782675459.93925786 seconds. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.04sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.04sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.04sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.04sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052525 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052525 ms (missed cycles : 4).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579312 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579312 ms (missed cycles : 4).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064309 ms (missed cycles : 5). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064309 ms (missed cycles : 5).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413729 ms (missed cycles : 3). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413729 ms (missed cycles : 3).[0m ×2 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (1.07e-06 s). ×2 + 8.35sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.38sINFOobjective_server_nodeFound path in 0 iterations (7.5e-07 s). ×2 + 8.49sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.53sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409013 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409013 ms (missed cycles : 3).[0m ×2 + 8.72sINFOobjective_server_nodeFound path in 69 iterations (0.0358556 s). ×2 + 8.86sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 8.91sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 9.21sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.25sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 9.50sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.54sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763750 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763750 ms (missed cycles : 3).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228429 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228429 ms (missed cycles : 2).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361805 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361805 ms (missed cycles : 3).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959289 ms (missed cycles : 3). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959289 ms (missed cycles : 3).[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217772 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217772 ms (missed cycles : 2).[0m ×2 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692361 ms (missed cycles : 2). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692361 ms (missed cycles : 2).[0m ×2 + 15.54sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782675471.76111341 seconds ×3 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 16.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782675472.33889771 seconds. ×3 + 16.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.12sINFOmove_groupClearing octomap...[0m ×2 + 16.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.12sINFOmove_groupOctomap cleared.[0m ×2 + 16.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782675472.81904125 seconds ×3 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905650 ms (missed cycles : 3). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905650 ms (missed cycles : 3).[0m ×2 + 17.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782675473.36559224 seconds. ×3 + 17.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782675473.79572892 seconds ×3 + 17.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897542 ms (missed cycles : 2). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897542 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.8s	3 errors · 51 warnings · 58 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181201 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181201 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286841 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286841 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835047 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835047 ms (missed cycles : 3).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023517 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023517 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.45sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782675321.91156459 seconds ×3 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.99sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782675322.45162678 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758450 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758450 ms (missed cycles : 5).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.40sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.40sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510117 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510117 ms (missed cycles : 4).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551258 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551258 ms (missed cycles : 4).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210272 ms (missed cycles : 2). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210272 ms (missed cycles : 2).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172079 ms (missed cycles : 3). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172079 ms (missed cycles : 3).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508080 ms (missed cycles : 6). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508080 ms (missed cycles : 6).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669635 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669635 ms (missed cycles : 2).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730493 ms (missed cycles : 5). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730493 ms (missed cycles : 5).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028289 ms (missed cycles : 5). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028289 ms (missed cycles : 5).[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.013364 ms (missed cycles : 7). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.013364 ms (missed cycles : 7).[0m ×2 + 14.28sINFOjoint_trajectory_controllerGot request to cancel goal + 14.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.28sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782675332.75624871 seconds ×3 + 14.85sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782675333.30595827 seconds. ×3 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214129 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214129 ms (missed cycles : 2).[0m ×2 + 15.14sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327838 ms (missed cycles : 4). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327838 ms (missed cycles : 4).[0m ×2 + 16.11sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438145 ms (missed cycles : 3). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438145 ms (missed cycles : 3).[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 5.843232 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843232 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049158 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049158 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442034 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442034 ms (missed cycles : 4).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.10sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782675233.35303020 seconds ×3 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608309 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608309 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782675233.91477108 seconds. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.02sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.02sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.02sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.02sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512823 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512823 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700923 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700923 ms (missed cycles : 5).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388477 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388477 ms (missed cycles : 2).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838247 ms (missed cycles : 3). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838247 ms (missed cycles : 3).[0m ×2 + 7.68sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782675237.87492085 seconds ×3 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953900 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953900 ms (missed cycles : 3).[0m ×2 + 9.21sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782675239.41384029 seconds. ×3 + 9.50sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949276 ms (missed cycles : 4). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949276 ms (missed cycles : 4).[0m ×2 + 10.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813076 ms (missed cycles : 5). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813076 ms (missed cycles : 5).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406247 ms (missed cycles : 4). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406247 ms (missed cycles : 4).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.5s	30 warnings · 58 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571126 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571126 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585473 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585473 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415693 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415693 ms (missed cycles : 4).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.90sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782675172.88609385 seconds ×3 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479710 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479710 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782675173.43287468 seconds. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495822 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495822 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.0401e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.29sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.29sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498097 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498097 ms (missed cycles : 3).[0m ×2 + 6.39sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782675176.36300135 seconds ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782194 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782194 ms (missed cycles : 4).[0m ×2 + 6.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782675176.91289377 seconds. ×3 + 7.23sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265620 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265620 ms (missed cycles : 3).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871942 ms (missed cycles : 3). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871942 ms (missed cycles : 3).[0m ×2 + 8.82sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817146 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817146 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.1s	21 warnings · 32 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959289 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959289 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217772 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692361 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692361 ms (missed cycles : 2).[0m ×2 + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782675471.76111341 seconds ×3 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782675472.33889771 seconds. ×3 + 3.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.27sINFOmove_groupClearing octomap...[0m ×2 + 3.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.27sINFOmove_groupOctomap cleared.[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782675472.81904125 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905650 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905650 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782675473.36559224 seconds. ×3 + 4.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782675473.79572892 seconds ×3 + 4.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897542 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897542 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063019 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063019 ms (missed cycles : 4).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	6 errors · 24 warnings · 259 info
+ 0.00sINFOros2_control_node[2026-06-28 19:32:02.854] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-28 19:32:02.856] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-28 19:32:02.857] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOros2-16process has finished cleanly [pid 10247] ×2 + 0.37sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 0.37sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.63sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.63sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.63sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.63sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.63sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.66sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 0.66sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.66sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.66sINFOplatform_velocity_controller_nav2configure successful + 0.66sINFOros2_control_nodeconfigure successful[0m ×4 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.95sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.95sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.98sINFOros2-14process has finished cleanly [pid 10245] ×2 + 1.01sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.01sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.01sINFOplatform_velocity_controllerconfigure successful + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.04sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.04sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.35sINFOros2-12process has finished cleanly [pid 10243] ×2 + 1.35sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.60sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.60sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.61sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.61sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.61sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.61sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.63sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.63sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.63sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.63sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.64sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.64sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.64sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.65sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.65sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.65sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.66sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 1.97sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.97sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.97sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.97sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.97sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.99sINFOros2-11process has finished cleanly [pid 10242] ×2 + 2.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.09sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.09sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.09sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.09sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.09sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.43sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.43sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.43sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.43sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 2.43sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.43sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 2.45sINFOros2-15process has finished cleanly [pid 10246] ×2 + 2.50sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.50sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.51sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.51sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.52sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.77sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 2.77sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 3.11sINFOros2-18process has finished cleanly [pid 10249] ×2 + 3.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.39sINFOmove_groupClearing octomap...[0m ×2 + 3.39sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 5.24sINFOobjective_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 + 5.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 6.28sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.58sERRORobjective_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 + 6.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	6 errors · 24 warnings · 259 info
+ 0.00sINFOros2_control_node[2026-06-28 19:32:02.854] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-28 19:32:02.856] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-28 19:32:02.857] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOros2-16process has finished cleanly [pid 10247] ×2 + 0.37sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 0.37sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.63sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.63sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.63sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.63sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.63sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.66sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 0.66sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.66sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.66sINFOplatform_velocity_controller_nav2configure successful + 0.66sINFOros2_control_nodeconfigure successful[0m ×4 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.95sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.95sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.98sINFOros2-14process has finished cleanly [pid 10245] ×2 + 1.01sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.01sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.01sINFOplatform_velocity_controllerconfigure successful + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.04sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.04sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.35sINFOros2-12process has finished cleanly [pid 10243] ×2 + 1.35sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.60sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.60sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.61sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.61sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.61sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.61sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.63sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.63sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.63sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.63sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.64sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.64sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.64sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.65sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.65sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.65sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.66sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 1.97sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.97sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.97sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.97sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.97sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.99sINFOros2-11process has finished cleanly [pid 10242] ×2 + 2.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.09sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.09sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.09sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.09sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.09sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.43sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.43sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.43sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.43sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 2.43sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.43sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 2.45sINFOros2-15process has finished cleanly [pid 10246] ×2 + 2.50sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.50sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.51sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.51sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.52sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.77sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 2.77sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 3.11sINFOros2-18process has finished cleanly [pid 10249] ×2 + 3.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.39sINFOmove_groupClearing octomap...[0m ×2 + 3.39sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 5.24sINFOobjective_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 + 5.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 6.28sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.58sERRORobjective_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 + 6.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3
− 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 5.571126 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571126 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585473 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585473 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415693 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415693 ms (missed cycles : 4).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782675172.88609385 seconds ×3 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479710 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479710 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782675173.43287468 seconds. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495822 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495822 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.0401e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOjoint_trajectory_controllerReceived new action goal + 4.29sINFOjoint_trajectory_controllerAccepted new action goal + 4.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498097 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498097 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	18 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571126 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571126 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585473 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585473 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415693 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415693 ms (missed cycles : 4).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782675172.88609385 seconds ×3 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479710 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479710 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782675173.43287468 seconds. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495822 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495822 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.0401e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOjoint_trajectory_controllerReceived new action goal + 4.29sINFOjoint_trajectory_controllerAccepted new action goal + 4.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498097 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498097 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	6 errors · 24 warnings · 259 info
+ 0.00sINFOros2_control_node[2026-06-28 19:32:02.854] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-28 19:32:02.856] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-28 19:32:02.857] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOros2-16process has finished cleanly [pid 10247] ×2 + 0.37sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 0.37sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.63sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.63sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.63sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.63sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.63sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.66sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 0.66sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.66sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.66sINFOplatform_velocity_controller_nav2configure successful + 0.66sINFOros2_control_nodeconfigure successful[0m ×4 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.95sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.95sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.98sINFOros2-14process has finished cleanly [pid 10245] ×2 + 1.01sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.01sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.01sINFOplatform_velocity_controllerconfigure successful + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.04sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.04sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.35sINFOros2-12process has finished cleanly [pid 10243] ×2 + 1.35sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.60sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.60sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.61sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.61sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.61sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.61sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.63sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.63sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.63sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.63sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.64sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.64sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.64sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.65sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.65sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.65sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.66sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 1.97sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.97sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.97sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.97sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.97sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.99sINFOros2-11process has finished cleanly [pid 10242] ×2 + 2.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.09sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.09sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.09sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.09sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.09sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.43sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.43sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.43sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.43sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 2.43sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.43sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 2.45sINFOros2-15process has finished cleanly [pid 10246] ×2 + 2.50sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.50sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.51sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.51sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.52sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.77sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 2.77sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 3.11sINFOros2-18process has finished cleanly [pid 10249] ×2 + 3.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.39sINFOmove_groupClearing octomap...[0m ×2 + 3.39sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 5.24sINFOobjective_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 + 5.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 6.28sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.58sERRORobjective_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 + 6.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3
− 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: 1782675172.88609385 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479710 ms (missed cycles : 3). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479710 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782675173.43287468 seconds. ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495822 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495822 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (2.0401e-05 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.39sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.39sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.39sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498097 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498097 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782675176.36300135 seconds ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782194 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782194 ms (missed cycles : 4).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782675176.91289377 seconds. ×3 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265620 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265620 ms (missed cycles : 3).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871942 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871942 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817146 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817146 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843232 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843232 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049158 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049158 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442034 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442034 ms (missed cycles : 4).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782675233.35303020 seconds ×3 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608309 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608309 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782675233.91477108 seconds. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.02sINFOjoint_trajectory_controllerReceived new action goal + 4.02sINFOjoint_trajectory_controllerAccepted new action goal + 4.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512823 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512823 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700923 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700923 ms (missed cycles : 5).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388477 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388477 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 5.843232 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843232 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049158 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049158 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442034 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442034 ms (missed cycles : 4).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782675233.35303020 seconds ×3 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608309 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608309 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782675233.91477108 seconds. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.02sINFOjoint_trajectory_controllerReceived new action goal + 4.02sINFOjoint_trajectory_controllerAccepted new action goal + 4.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512823 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512823 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700923 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700923 ms (missed cycles : 5).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388477 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388477 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 5.843232 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843232 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049158 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049158 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442034 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442034 ms (missed cycles : 4).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782675233.35303020 seconds ×3 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608309 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608309 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782675233.91477108 seconds. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.02sINFOjoint_trajectory_controllerReceived new action goal + 4.02sINFOjoint_trajectory_controllerAccepted new action goal + 4.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512823 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512823 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700923 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700923 ms (missed cycles : 5).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388477 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388477 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 5.843232 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843232 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049158 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049158 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442034 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442034 ms (missed cycles : 4).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782675233.35303020 seconds ×3 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608309 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608309 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782675233.91477108 seconds. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.02sINFOjoint_trajectory_controllerReceived new action goal + 4.02sINFOjoint_trajectory_controllerAccepted new action goal + 4.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512823 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512823 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700923 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700923 ms (missed cycles : 5).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388477 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388477 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 5.843232 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843232 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049158 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049158 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442034 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442034 ms (missed cycles : 4).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782675233.35303020 seconds ×3 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608309 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608309 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782675233.91477108 seconds. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.02sINFOjoint_trajectory_controllerReceived new action goal + 4.02sINFOjoint_trajectory_controllerAccepted new action goal + 4.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512823 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512823 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700923 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700923 ms (missed cycles : 5).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388477 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388477 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 3.533022 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533022 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650973 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650973 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969026 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969026 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005456 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005456 ms (missed cycles : 2).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGoal reached, success! + 3.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782675269.21402502 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782675269.77143836 seconds. ×3 + 3.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347396 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347396 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658430 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658430 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261741 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261741 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533022 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533022 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650973 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650973 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969026 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969026 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005456 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005456 ms (missed cycles : 2).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGoal reached, success! + 3.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782675269.21402502 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782675269.77143836 seconds. ×3 + 3.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347396 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347396 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658430 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658430 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261741 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261741 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533022 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533022 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650973 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650973 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969026 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969026 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005456 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005456 ms (missed cycles : 2).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGoal reached, success! + 3.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782675269.21402502 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782675269.77143836 seconds. ×3 + 3.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347396 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347396 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658430 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658430 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261741 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261741 ms (missed cycles : 3).[0m ×2
− skipped	Point-to-Point Trajectory	point-to-point_trajectory.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483049 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483049 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782675404.41612506 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782675404.96998262 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 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 2.483049 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483049 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782675404.41612506 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782675404.96998262 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483049 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483049 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782675404.41612506 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782675404.96998262 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 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 2.483049 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483049 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782675404.41612506 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782675404.96998262 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 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 2.483049 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483049 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782675404.41612506 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782675404.96998262 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 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 2.483049 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483049 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782675404.41612506 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782675404.96998262 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 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 2.483049 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483049 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782675404.41612506 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782675404.96998262 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 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 2.483049 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483049 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580257 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971090 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524422 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782675404.41612506 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782675404.96998262 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295772 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239112 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394774 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 32 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959289 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959289 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217772 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692361 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692361 ms (missed cycles : 2).[0m ×2 + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782675471.76111341 seconds ×3 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782675472.33889771 seconds. ×3 + 3.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.27sINFOmove_groupClearing octomap...[0m ×2 + 3.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.27sINFOmove_groupOctomap cleared.[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782675472.81904125 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905650 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905650 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782675473.36559224 seconds. ×3 + 4.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782675473.79572892 seconds ×3 + 4.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897542 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897542 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

3 pass6 skip

✓ passed	—	clear_snapshot.xml	20.5s	65 errors · 739 warnings · 1778 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/2026-06-28-19-25-21-908472-fd2c809caa28-9070 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 8.58sINFOros2_control_node-8process started with pid [9126] + 8.59sINFOmove_group-20process started with pid [9215] + 8.59sINFOparameter_manager_node-21process started with pid [9216] + 8.59sINFOwaypoint_manager_node-22process started with pid [9217] + 8.59sINFOmove_joint_resampler_node-23process started with pid [9218] + 8.59sINFOmove_end_effector_resampler_node-24process started with pid [9253] + 8.59sINFOobjective_server_node_main-25process started with pid [9274] + 8.59sINFOcomponent_container_mt-26process started with pid [9278] + 8.59sINFOexecute_objective_bridge-27process started with pid [9279] + 8.59sINFOui_teleop_bridge-28process started with pid [9281] + 8.59sINFOweb_bridge-29process started with pid [9282] + 8.59sINFOtf2_web_republisher_node-30process started with pid [9283] + 8.59sINFOweb_video_server-31process started with pid [9284] + 8.61sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 8.61sINFOcomponent_container_isolated-1process started with pid [9119] + 8.61sINFOstatic_transform_publisher-2process started with pid [9120] + 8.61sINFOstatic_transform_publisher-3process started with pid [9121] + 8.61sINFOstatic_transform_publisher-4process started with pid [9122] + 8.61sINFOodom_qos_relay.py-5process started with pid [9123] + 8.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 8.62sINFOscan_to_scan_filter_chain-6process started with pid [9124] + 8.62sINFOscan_to_scan_filter_chain-7process started with pid [9125] + 8.62sINFOros2-9process started with pid [9204] + 8.62sINFOros2-10process started with pid [9205] + 8.62sINFOros2-11process started with pid [9206] + 8.62sINFOros2-12process started with pid [9207] + 8.62sINFOros2-13process started with pid [9208] + 8.62sINFOros2-14process started with pid [9209] + 8.62sINFOros2-15process started with pid [9210] + 8.62sINFOros2-16process started with pid [9211] + 8.62sINFOros2-17process started with pid [9212] + 8.62sINFOros2-18process started with pid [9213] + 8.62sINFOros2-19process started with pid [9214] + 8.67sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×9 + 8.67sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×9 + 8.67sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×9 + 8.67sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×9 + 8.67sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 8.67sINFOstatic_transform_publisherfrom 'mj_world' to 'world'[0m ×3 + 8.69sINFOstatic_transform_publisherfrom 'map' to 'odom'[0m ×3 + 8.69sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 8.69sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 8.69sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 8.69sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 8.69sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 8.69sWARNros2_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 + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383945 ms (missed cycles : 2).[0m + 8.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 8.75sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 8.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 8.81sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 8.83sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 8.83sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 8.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 8.90sINFOcomponent_container_mtRobot initialized[0m ×3 + 8.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 8.92sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 8.92sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 8.94sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 8.97sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 8.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 8.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 8.99sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 9.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 9.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 9.07sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 9.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 9.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 9.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 9.23sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 9.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 9.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 9.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 9.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 9.24sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 9.24sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 9.24sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 9.24sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×3 + 9.25sINFOmove_groupLoaded robot model in 0.222602 seconds[0m + 9.25sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 9.25sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 9.37sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×6 + 9.59sINFOwaypoint_manager_nodeLoaded robot model in 0.155658 seconds[0m + 9.59sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 9.59sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.71sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 9.71sWARNmove_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 + 9.72sWARNmove_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 + 9.72sWARNmove_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 + 9.72sWARNmove_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 + 9.73sWARNmove_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 + 9.73sWARNmove_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 + 9.73sWARNmove_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 + 9.73sWARNmove_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 + 9.73sWARNmove_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 + 9.73sWARNmove_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 + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.964249 ms (missed cycles : 4).[0m + 10.01sWARNwaypoint_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 + 10.01sWARNwaypoint_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 + 10.01sWARNwaypoint_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 + 10.01sWARNwaypoint_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 + 10.02sWARNwaypoint_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 + 10.02sWARNwaypoint_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 + 10.02sWARNwaypoint_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 + 10.02sWARNwaypoint_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 + 10.02sWARNwaypoint_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 + 10.02sWARNwaypoint_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 + 10.02sWARNwaypoint_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 + 10.02sWARNwaypoint_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 + 10.02sWARNwaypoint_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 + 10.02sWARNwaypoint_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 + 10.02sWARNwaypoint_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 + 10.03sWARNwaypoint_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 + 10.03sWARNwaypoint_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 + 10.03sWARNwaypoint_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 + 10.03sWARNwaypoint_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 + 10.03sWARNwaypoint_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 + 10.03sWARNwaypoint_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 + 10.03sWARNwaypoint_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 + 10.03sWARNwaypoint_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 + 10.03sWARNwaypoint_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 + 10.04sWARNwaypoint_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 + 10.04sWARNwaypoint_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 + 10.04sWARNwaypoint_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 + 10.04sWARNwaypoint_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 + 10.31sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 10.31sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 10.31sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 10.31sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 10.31sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 10.31sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 10.32sINFOmove_groupStarting planning scene monitor[0m ×3 + 10.32sINFOmove_groupListening to '/planning_scene'[0m ×3 + 10.32sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 10.32sINFOmove_groupListening to 'collision_object'[0m ×3 + 10.32sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 10.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×18 + 10.37sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 10.37sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 10.50sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 10.50sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 10.51sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 10.88sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 10.89sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 10.89sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 10.89sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 10.89sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 10.89sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 10.89sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 10.89sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 10.89sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 10.89sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 10.89sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 10.89sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 10.89sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 10.89sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 10.89sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 10.89sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 10.89sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 10.89sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 10.89sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 10.91sWARNros2_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 + 11.09sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 11.09sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 11.10sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_3zyahblk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z0y6plha --params-file /tmp/launch_params_lhpltcf3 [0m + 11.12sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 11.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 11.13sINFOros2_control_nodeconfigure successful[0m ×9 + 11.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×3 + 11.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×3 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×3 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×3 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×3 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×3 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×3 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×3 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×3 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×3 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×3 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×3 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×3 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×3 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×3 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×3 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 11.30sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 11.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 11.32sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759171 ms (missed cycles : 2).[0m + 11.37sINFOobjective_server_node[2026-06-28 19:25:35.746] [moveit_pro_license] [info] + 11.37sINFOobjective_server_node************************************************* ×8 + 11.37sINFOobjective_server_node* MoveIt Pro License ×4 + 11.37sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 11.43sINFOobjective_server_nodeLoaded robot model in 0.0213543 seconds[0m + 11.43sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 11.43sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 11.47sINFOros2-14process has finished cleanly [pid 9209] + 11.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 11.49sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 11.51sWARNcomponent_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 + 11.64sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 11.64sWARNobjective_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 + 11.64sWARNobjective_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 + 11.65sWARNobjective_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 + 11.65sWARNobjective_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 + 11.65sWARNobjective_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 + 11.65sWARNobjective_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 + 11.65sWARNobjective_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 + 11.65sWARNobjective_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 + 11.65sWARNobjective_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 + 11.65sWARNobjective_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 + 11.69sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 11.69sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 11.69sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3zyahblk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z0y6plha --params-file /tmp/launch_params_lhpltcf3 [0m + 11.69sINFOobjective_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 + 11.70sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 11.71sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 11.72sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 11.72sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 11.72sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 11.72sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 11.72sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 11.72sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 11.72sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 11.73sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 11.74sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 11.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 11.74sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 11.94sINFOcomponent_container_mtLoaded robot model in 0.429097 seconds[0m + 11.94sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 11.94sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 11.95sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 12.03sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 12.03sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 12.04sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3zyahblk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z0y6plha --params-file /tmp/launch_params_lhpltcf3 [0m + 12.07sINFOros2-9process has finished cleanly [pid 9204] + 12.09sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 12.10sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 12.10sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 12.11sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 12.19sWARNcomponent_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 + 12.19sWARNcomponent_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 + 12.19sWARNcomponent_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 + 12.19sWARNcomponent_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 + 12.19sWARNcomponent_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 + 12.19sWARNcomponent_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 + 12.19sWARNcomponent_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 + 12.20sWARNcomponent_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 + 12.20sWARNcomponent_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 + 12.20sWARNcomponent_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 + 12.20sWARNcomponent_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 + 12.20sWARNcomponent_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 + 12.20sWARNcomponent_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 + 12.20sWARNcomponent_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 + 12.20sWARNcomponent_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 + 12.20sWARNcomponent_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 + 12.20sWARNcomponent_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 + 12.20sWARNcomponent_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 + 12.20sWARNcomponent_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 + 12.20sWARNcomponent_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 + 12.20sWARNcomponent_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 + 12.20sWARNcomponent_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 + 12.20sWARNcomponent_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 + 12.20sWARNcomponent_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 + 12.21sWARNcomponent_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 + 12.21sWARNcomponent_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 + 12.21sWARNcomponent_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 + 12.21sWARNcomponent_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 + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891246 ms (missed cycles : 3).[0m + 12.45sINFOros2-10process has finished cleanly [pid 9205] + 12.54sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 12.54sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 12.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 12.54sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 12.58sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×3 + 12.64sINFOmove_groupTrajectory execution is managing controllers[0m ×3 + 12.64sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 12.64sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 12.68sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 12.68sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×3 + 12.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 12.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 12.71sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 12.71sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 12.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 12.71sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 12.71sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3zyahblk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z0y6plha --params-file /tmp/launch_params_lhpltcf3 [0m + 12.74sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 12.74sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 12.75sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 12.75sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 12.75sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 12.75sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 12.79sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 12.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 12.79sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 12.79sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 12.79sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 12.79sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 12.79sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 12.80sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 12.80sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×3 + 12.84sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 12.88sINFOmove_group ×12 + 12.89sINFOmove_group******************************************************** ×6 + 12.89sINFOmove_group* MoveGroup using: ×3 + 12.89sINFOmove_group* - apply_planning_scene_service ×3 + 12.89sINFOmove_group* - clear_octomap_service ×3 + 12.89sINFOmove_group* - ExecuteTaskSolution ×3 + 12.89sINFOmove_group* - get_group_urdf ×3 + 12.89sINFOmove_group* - load_geometry_from_file ×3 + 12.89sINFOmove_group* - get_planning_scene_service ×3 + 12.89sINFOmove_group* - kinematics_service ×3 + 12.89sINFOmove_group* - save_geometry_to_file ×3 + 12.89sINFOmove_group* - GetPlanningGroups ×3 + 12.89sINFOmove_group* - SetActiveControllerService ×3 + 12.89sINFOmove_group* - URDFPlanningSceneCapability ×3 + 12.89sINFOmove_group[0m ×3 + 12.89sINFOmove_group[92mYou can start planning now![0m ×3 + 12.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 12.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 12.92sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 12.92sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 12.92sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 12.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×3 + 13.26sINFOros2-15process has finished cleanly [pid 9210] + 13.27sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 13.27sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 13.27sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_3zyahblk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z0y6plha --params-file /tmp/launch_params_lhpltcf3 [0m + 13.29sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 13.30sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 13.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 13.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 13.30sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 13.32sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 13.40sWARNobjective_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 + 13.43sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736063 ms (missed cycles : 2).[0m + 13.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 13.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 13.81sINFOros2-13process has finished cleanly [pid 9208] + 13.93sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3zyahblk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z0y6plha --params-file /tmp/launch_params_lhpltcf3 [0m + 13.98sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 13.98sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 13.99sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 13.99sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 14.24sINFOros2_control_node[2026-06-28 19:25:38.623] [info] Controller state will be published at 20 Hz. + 14.25sINFOros2_control_node[2026-06-28 19:25:38.624] [info] JointVelocityController 'on_configure' succeeded. + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937182 ms (missed cycles : 2).[0m + 14.56sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 14.56sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 14.59sINFOros2-19process has finished cleanly [pid 9214] + 14.64sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3zyahblk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z0y6plha --params-file /tmp/launch_params_lhpltcf3 [0m + 14.69sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 14.69sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 14.97sINFOros2_control_node[2026-06-28 19:25:39.346] [warning] No force/torque sensor configured. The VFC will ignore force references. + 14.97sINFOros2_control_node[2026-06-28 19:25:39.350] [info] Controller state will be published at 10 Hz. + 14.97sINFOros2_control_node[2026-06-28 19:25:39.351] [info] VelocityForceController 'on_configure' succeeded. + 15.31sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 15.31sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 15.31sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3zyahblk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z0y6plha --params-file /tmp/launch_params_lhpltcf3 [0m + 15.32sINFOros2-16process has finished cleanly [pid 9211] + 15.38sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 15.38sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986299 ms (missed cycles : 3).[0m + 15.63sINFOros2_control_node[2026-06-28 19:25:40.005] [info] Controller state will be published at 20 Hz. + 15.63sINFOros2_control_node[2026-06-28 19:25:40.006] [info] JointVelocityController 'on_configure' succeeded. + 15.89sINFOros2-18process has finished cleanly [pid 9213] + 16.15sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 16.15sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 16.15sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3zyahblk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z0y6plha --params-file /tmp/launch_params_lhpltcf3 [0m + 16.17sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 16.18sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 16.43sINFOros2_control_node[2026-06-28 19:25:40.808] [warning] No force/torque sensor configured. The VFC will ignore force references. + 16.43sINFOros2_control_node[2026-06-28 19:25:40.810] [info] Controller state will be published at 10 Hz. + 16.43sINFOros2_control_node[2026-06-28 19:25:40.811] [info] VelocityForceController 'on_configure' succeeded. + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634826 ms (missed cycles : 3).[0m + 16.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 16.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 16.79sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3zyahblk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z0y6plha --params-file /tmp/launch_params_lhpltcf3 [0m + 16.81sINFOros2-17process has finished cleanly [pid 9212] + 16.84sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 16.84sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 16.84sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 16.84sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 16.84sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 16.86sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 16.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 17.19sINFOros2-11process has finished cleanly [pid 9206] + 17.49sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 17.49sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 17.49sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3zyahblk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z0y6plha --params-file /tmp/launch_params_lhpltcf3 [0m + 17.51sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 17.51sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 17.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 17.52sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890980 ms (missed cycles : 3).[0m + 17.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 17.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 17.84sINFOros2-12process has finished cleanly [pid 9207] + 18.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782674742.67816353 seconds. + 18.30sINFOmove_groupClearing octomap...[0m ×4 + 18.30sINFOmove_groupOctomap cleared.[0m ×4 + 18.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782674742.68881536 seconds + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.630302 ms (missed cycles : 5).[0m + 18.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782674743.24153638 seconds. + 18.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782674743.25167799 seconds + 19.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782674743.79090476 seconds. + 19.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782674743.94157386 seconds + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376199 ms (missed cycles : 4).[0m + 20.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782674744.51050067 seconds. + 20.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 20.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 20.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 20.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 20.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 20.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 20.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 20.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 20.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782674744.56064582 seconds + 20.73sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782674745.10619402 seconds. + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948866 ms (missed cycles : 5).[0m + 20.91sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m + 21.37sERRORobjective_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 + 21.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782674745.74642754 seconds + 21.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652470 ms (missed cycles : 3).[0m + 22.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782674746.37863374 seconds. + 22.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×11 + 22.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m + 22.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m + 22.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m + 22.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921261 ms (missed cycles : 3).[0m + 23.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×7 + 23.06sINFOobjective_server_nodePlanning for 177 path waypoints. + 23.29sINFOros2_control_nodeReceived new action goal[0m ×17 + 23.29sINFOros2_control_nodeAccepted new action goal[0m ×17 + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692630 ms (missed cycles : 2).[0m + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020342 ms (missed cycles : 3).[0m + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909215 ms (missed cycles : 3).[0m + 27.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831301 ms (missed cycles : 2).[0m + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010701 ms (missed cycles : 2).[0m + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898842 ms (missed cycles : 3).[0m + 30.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962945 ms (missed cycles : 3).[0m + 31.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437940 ms (missed cycles : 4).[0m + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041481 ms (missed cycles : 2).[0m + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842579 ms (missed cycles : 2).[0m + 34.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302943 ms (missed cycles : 4).[0m + 35.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797733 ms (missed cycles : 2).[0m + 36.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372454 ms (missed cycles : 3).[0m + 37.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664509 ms (missed cycles : 4).[0m + 38.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848765 ms (missed cycles : 3).[0m + 39.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335829 ms (missed cycles : 3).[0m + 40.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.577681 ms (missed cycles : 5).[0m + 42.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242067 ms (missed cycles : 2).[0m + 43.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124283 ms (missed cycles : 5).[0m + 44.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063824 ms (missed cycles : 3).[0m + 45.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192662 ms (missed cycles : 4).[0m + 46.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367849 ms (missed cycles : 3).[0m + 47.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136864 ms (missed cycles : 2).[0m + 48.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780296 ms (missed cycles : 2).[0m + 49.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399367 ms (missed cycles : 4).[0m + 50.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872227 ms (missed cycles : 2).[0m + 51.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997688 ms (missed cycles : 3).[0m + 52.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096417 ms (missed cycles : 3).[0m + 53.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984271 ms (missed cycles : 2).[0m + 54.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393342 ms (missed cycles : 4).[0m + 55.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346280 ms (missed cycles : 4).[0m + 56.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325354 ms (missed cycles : 3).[0m + 57.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148174 ms (missed cycles : 3).[0m + 58.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949531 ms (missed cycles : 5).[0m + 59.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929382 ms (missed cycles : 3).[0m + 60.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862977 ms (missed cycles : 2).[0m + 62.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954963 ms (missed cycles : 3).[0m + 63.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192990 ms (missed cycles : 2).[0m + 64.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618229 ms (missed cycles : 3).[0m + 64.94sINFOros2_control_nodeGoal reached, success![0m ×16 + 64.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782674789.32688832 seconds + 65.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256221 ms (missed cycles : 2).[0m + 65.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782674789.86537433 seconds. + 66.25sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). + 66.25sINFOobjective_server_nodePath shortcutter: [X____X] + 66.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 66.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183089 ms (missed cycles : 2).[0m + 67.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292531 ms (missed cycles : 3).[0m + 68.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782674792.75551534 seconds + 68.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823897 ms (missed cycles : 2).[0m + 68.92sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782674793.29881144 seconds. + 69.20sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 69.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.821658 ms (missed cycles : 5).[0m + 70.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960053 ms (missed cycles : 3).[0m + 70.85sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 71.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516246 ms (missed cycles : 3).[0m + 72.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998423 ms (missed cycles : 3).[0m + 73.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268558 ms (missed cycles : 3).[0m + 74.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133363 ms (missed cycles : 4).[0m + 75.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122278 ms (missed cycles : 4).[0m + 76.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649152 ms (missed cycles : 2).[0m + 78.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897282 ms (missed cycles : 3).[0m + 79.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257588 ms (missed cycles : 2).[0m + 80.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.529711 ms (missed cycles : 4).[0m + 80.91sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m + 81.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204712 ms (missed cycles : 2).[0m + 82.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582700 ms (missed cycles : 4).[0m + 83.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956633 ms (missed cycles : 3).[0m + 84.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737770 ms (missed cycles : 2).[0m + 85.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.309211 ms (missed cycles : 10).[0m + 86.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719727 ms (missed cycles : 3).[0m + 87.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.477486 ms (missed cycles : 4).[0m + 88.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353773 ms (missed cycles : 4).[0m + 89.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094322 ms (missed cycles : 4).[0m + 90.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716443 ms (missed cycles : 3).[0m + 91.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785124 ms (missed cycles : 3).[0m + 93.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750801 ms (missed cycles : 2).[0m + 94.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311614 ms (missed cycles : 2).[0m + 95.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175685 ms (missed cycles : 4).[0m + 96.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170481 ms (missed cycles : 2).[0m + 97.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.162939 ms (missed cycles : 7).[0m + 98.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940277 ms (missed cycles : 2).[0m + 99.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939256 ms (missed cycles : 6).[0m + 99.60sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +100.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058754 ms (missed cycles : 3).[0m +101.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353736 ms (missed cycles : 3).[0m +102.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366731 ms (missed cycles : 3).[0m +103.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738162 ms (missed cycles : 2).[0m +104.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983685 ms (missed cycles : 4).[0m +105.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131534 ms (missed cycles : 2).[0m +106.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865663 ms (missed cycles : 2).[0m +107.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343402 ms (missed cycles : 4).[0m +108.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230349 ms (missed cycles : 2).[0m +109.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524669 ms (missed cycles : 2).[0m +110.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469979 ms (missed cycles : 3).[0m +112.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903411 ms (missed cycles : 2).[0m +113.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116211 ms (missed cycles : 2).[0m +114.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288597 ms (missed cycles : 2).[0m +115.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.824043 ms (missed cycles : 6).[0m +116.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074196 ms (missed cycles : 2).[0m +117.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122449 ms (missed cycles : 5).[0m +118.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460353 ms (missed cycles : 3).[0m +119.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901205 ms (missed cycles : 2).[0m +120.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619038 ms (missed cycles : 2).[0m +121.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226577 ms (missed cycles : 2).[0m +122.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238566 ms (missed cycles : 2).[0m +123.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169033 ms (missed cycles : 3).[0m +124.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385799 ms (missed cycles : 4).[0m +125.10sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782674849.47896266 seconds +125.66sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782674850.03191590 seconds. +125.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420197 ms (missed cycles : 4).[0m +125.95sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). +125.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +126.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484674 ms (missed cycles : 4).[0m +127.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462165 ms (missed cycles : 3).[0m +128.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267686 ms (missed cycles : 2).[0m +129.68sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782674854.06207848 seconds +129.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668257 ms (missed cycles : 2).[0m +130.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.548937 ms (missed cycles : 4).[0m +131.24sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782674855.61620307 seconds. +131.53sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). +131.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757361 ms (missed cycles : 4).[0m +132.62sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +133.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504578 ms (missed cycles : 3).[0m +134.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255725 ms (missed cycles : 4).[0m +135.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025296 ms (missed cycles : 2).[0m +136.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371333 ms (missed cycles : 2).[0m +137.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537964 ms (missed cycles : 4).[0m +138.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996667 ms (missed cycles : 2).[0m +139.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966347 ms (missed cycles : 3).[0m +140.92sINFOros2_control_nodeMuJoCo sim: 0.11% of iterations over time budget. Below 1% expected for non-realtime.[0m +141.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593066 ms (missed cycles : 4).[0m +142.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565823 ms (missed cycles : 3).[0m +143.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458911 ms (missed cycles : 2).[0m +144.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897942 ms (missed cycles : 2).[0m +145.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264836 ms (missed cycles : 4).[0m +146.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880623 ms (missed cycles : 3).[0m +147.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646275 ms (missed cycles : 4).[0m +148.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127447 ms (missed cycles : 4).[0m +149.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868804 ms (missed cycles : 3).[0m +150.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771303 ms (missed cycles : 2).[0m +151.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982904 ms (missed cycles : 2).[0m +152.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182606 ms (missed cycles : 5).[0m +153.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799834 ms (missed cycles : 4).[0m +155.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546780 ms (missed cycles : 2).[0m +156.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613292 ms (missed cycles : 2).[0m +157.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784273 ms (missed cycles : 3).[0m +158.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352515 ms (missed cycles : 4).[0m +159.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626138 ms (missed cycles : 3).[0m +160.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159798 ms (missed cycles : 4).[0m +161.06sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782674885.43636107 seconds +161.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176441 ms (missed cycles : 5).[0m +161.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782674885.98597527 seconds. +161.89sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). +162.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950283 ms (missed cycles : 3).[0m +162.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +163.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498865 ms (missed cycles : 3).[0m +164.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257532 ms (missed cycles : 2).[0m +165.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844497 ms (missed cycles : 3).[0m +166.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553914 ms (missed cycles : 2).[0m +167.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515789 ms (missed cycles : 3).[0m +168.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698314 ms (missed cycles : 4).[0m +169.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.747024 ms (missed cycles : 5).[0m +171.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804393 ms (missed cycles : 2).[0m +172.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667019 ms (missed cycles : 3).[0m +173.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032981 ms (missed cycles : 2).[0m +174.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078837 ms (missed cycles : 3).[0m +175.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956396 ms (missed cycles : 3).[0m +176.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981006 ms (missed cycles : 2).[0m +177.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950656 ms (missed cycles : 3).[0m +178.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319544 ms (missed cycles : 2).[0m +179.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336152 ms (missed cycles : 3).[0m +180.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807119 ms (missed cycles : 2).[0m +181.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881461 ms (missed cycles : 6).[0m +182.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272342 ms (missed cycles : 2).[0m +183.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800538 ms (missed cycles : 2).[0m +184.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.129522 ms (missed cycles : 8).[0m +185.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.157392 ms (missed cycles : 7).[0m +186.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.335229 ms (missed cycles : 7).[0m +187.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001537 ms (missed cycles : 3).[0m +188.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.202256 ms (missed cycles : 4).[0m +189.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714299 ms (missed cycles : 2).[0m +190.37sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +190.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558034 ms (missed cycles : 2).[0m +191.04sINFOobjective_server_nodePlanning for 51 path waypoints. +191.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.121888 ms (missed cycles : 7).[0m +192.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381856 ms (missed cycles : 3).[0m +194.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.557547 ms (missed cycles : 4).[0m +195.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772726 ms (missed cycles : 4).[0m +196.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006090 ms (missed cycles : 3).[0m +197.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379318 ms (missed cycles : 5).[0m +198.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645936 ms (missed cycles : 4).[0m +199.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139552 ms (missed cycles : 2).[0m +200.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917067 ms (missed cycles : 2).[0m +200.92sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m +201.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752246 ms (missed cycles : 3).[0m +202.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.357390 ms (missed cycles : 4).[0m +203.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215661 ms (missed cycles : 2).[0m +204.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653219 ms (missed cycles : 2).[0m +206.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192616 ms (missed cycles : 2).[0m +207.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033880 ms (missed cycles : 4).[0m +208.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.277775 ms (missed cycles : 5).[0m +209.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817350 ms (missed cycles : 2).[0m +210.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650974 ms (missed cycles : 2).[0m +211.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283688 ms (missed cycles : 2).[0m +212.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542711 ms (missed cycles : 4).[0m +213.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386816 ms (missed cycles : 3).[0m +214.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734518 ms (missed cycles : 3).[0m +215.00sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782674939.37611961 seconds +215.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132370 ms (missed cycles : 2).[0m +215.54sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782674939.92355061 seconds. +215.84sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). +216.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023123 ms (missed cycles : 3).[0m +216.82sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] +217.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708614 ms (missed cycles : 2).[0m +218.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888585 ms (missed cycles : 3).[0m +219.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692114 ms (missed cycles : 3).[0m +220.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694333 ms (missed cycles : 2).[0m +221.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984301 ms (missed cycles : 3).[0m +222.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042732 ms (missed cycles : 2).[0m +223.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377931 ms (missed cycles : 4).[0m +224.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710450 ms (missed cycles : 2).[0m +225.73sINFOros2_control_nodeGot request to cancel goal[0m +225.73sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +225.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782674950.14196610 seconds +225.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394110 ms (missed cycles : 4).[0m +226.30sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782674950.68029404 seconds. +226.61sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). +227.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870456 ms (missed cycles : 3).[0m +227.57sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 +228.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947953 ms (missed cycles : 3).[0m +229.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.353783 ms (missed cycles : 5).[0m +230.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842687 ms (missed cycles : 3).[0m +231.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486545 ms (missed cycles : 2).[0m +232.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515479 ms (missed cycles : 4).[0m +233.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813585 ms (missed cycles : 3).[0m +234.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602381 ms (missed cycles : 2).[0m +235.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269159 ms (missed cycles : 4).[0m +236.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533186 ms (missed cycles : 4).[0m +237.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932508 ms (missed cycles : 2).[0m +238.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258325 ms (missed cycles : 3).[0m +239.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397991 ms (missed cycles : 3).[0m +240.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124024 ms (missed cycles : 2).[0m +241.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557057 ms (missed cycles : 3).[0m +242.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065314 ms (missed cycles : 4).[0m +243.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311828 ms (missed cycles : 3).[0m +244.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267409 ms (missed cycles : 4).[0m +245.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147578 ms (missed cycles : 3).[0m +247.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.692935 ms (missed cycles : 9).[0m +248.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.818458 ms (missed cycles : 5).[0m +249.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.614076 ms (missed cycles : 7).[0m +250.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554424 ms (missed cycles : 3).[0m +251.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285907 ms (missed cycles : 2).[0m +252.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935693 ms (missed cycles : 2).[0m +253.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272399 ms (missed cycles : 2).[0m +254.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115374 ms (missed cycles : 2).[0m +255.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090180 ms (missed cycles : 2).[0m +256.05sINFOobjective_server_nodePlanning for 36 path waypoints. +256.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422490 ms (missed cycles : 4).[0m +257.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421202 ms (missed cycles : 3).[0m +258.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000684 ms (missed cycles : 2).[0m +259.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479771 ms (missed cycles : 2).[0m +260.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921131 ms (missed cycles : 3).[0m +260.92sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m +261.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138394 ms (missed cycles : 3).[0m +262.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753497 ms (missed cycles : 2).[0m +263.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164207 ms (missed cycles : 4).[0m +264.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182724 ms (missed cycles : 3).[0m +265.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609804 ms (missed cycles : 3).[0m +266.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029515 ms (missed cycles : 2).[0m +267.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940242 ms (missed cycles : 2).[0m +268.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772313 ms (missed cycles : 2).[0m +270.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584256 ms (missed cycles : 4).[0m +271.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090543 ms (missed cycles : 2).[0m +272.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375678 ms (missed cycles : 2).[0m +272.88sINFOobjective_server_nodePlanning for 38 path waypoints. +273.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730954 ms (missed cycles : 2).[0m +274.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419365 ms (missed cycles : 6).[0m +275.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801021 ms (missed cycles : 3).[0m +276.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380010 ms (missed cycles : 3).[0m +277.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257594 ms (missed cycles : 5).[0m +278.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191641 ms (missed cycles : 2).[0m +279.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359060 ms (missed cycles : 3).[0m +280.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366258 ms (missed cycles : 4).[0m +281.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.995243 ms (missed cycles : 5).[0m +282.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461322 ms (missed cycles : 2).[0m +283.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425644 ms (missed cycles : 2).[0m +284.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112199 ms (missed cycles : 4).[0m +285.25sINFOobjective_server_nodePlanning for 31 path waypoints. +285.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248007 ms (missed cycles : 2).[0m +286.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637010 ms (missed cycles : 4).[0m +287.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.672025 ms (missed cycles : 5).[0m +288.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.408210 ms (missed cycles : 6).[0m +289.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862969 ms (missed cycles : 3).[0m +291.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895760 ms (missed cycles : 2).[0m +292.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297245 ms (missed cycles : 3).[0m +293.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.722748 ms (missed cycles : 5).[0m +294.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203305 ms (missed cycles : 4).[0m +295.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551489 ms (missed cycles : 3).[0m +296.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.679333 ms (missed cycles : 4).[0m +296.85sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782675021.23045516 seconds +297.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782675021.77682257 seconds. +297.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477234 ms (missed cycles : 3).[0m +297.75sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). +298.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003283 ms (missed cycles : 3).[0m +299.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922201 ms (missed cycles : 3).[0m +300.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.304583 ms (missed cycles : 5).[0m +301.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640861 ms (missed cycles : 4).[0m +302.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293663 ms (missed cycles : 3).[0m +303.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418358 ms (missed cycles : 3).[0m +304.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714038 ms (missed cycles : 3).[0m +305.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211510 ms (missed cycles : 2).[0m +306.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458119 ms (missed cycles : 2).[0m +307.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910148 ms (missed cycles : 2).[0m +308.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746285 ms (missed cycles : 2).[0m +309.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918607 ms (missed cycles : 2).[0m +311.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501489 ms (missed cycles : 5).[0m +312.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516200 ms (missed cycles : 2).[0m +313.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754037 ms (missed cycles : 2).[0m +314.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269833 ms (missed cycles : 5).[0m +315.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820571 ms (missed cycles : 2).[0m +316.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045574 ms (missed cycles : 2).[0m +317.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097225 ms (missed cycles : 2).[0m +318.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829816 ms (missed cycles : 5).[0m +319.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.536847 ms (missed cycles : 6).[0m +320.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036020 ms (missed cycles : 2).[0m +320.93sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m +321.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.279626 ms (missed cycles : 8).[0m +322.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724556 ms (missed cycles : 2).[0m +323.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277390 ms (missed cycles : 2).[0m +324.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840922 ms (missed cycles : 3).[0m +325.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896118 ms (missed cycles : 4).[0m +326.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566150 ms (missed cycles : 2).[0m +327.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108864 ms (missed cycles : 2).[0m +328.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226689 ms (missed cycles : 2).[0m +329.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276501 ms (missed cycles : 2).[0m +331.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593559 ms (missed cycles : 2).[0m +332.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783469 ms (missed cycles : 5).[0m +333.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.955224 ms (missed cycles : 6).[0m +334.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440386 ms (missed cycles : 2).[0m +335.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973053 ms (missed cycles : 2).[0m +336.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974859 ms (missed cycles : 3).[0m +337.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672192 ms (missed cycles : 4).[0m +338.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199512 ms (missed cycles : 2).[0m +339.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866334 ms (missed cycles : 2).[0m +340.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.671671 ms (missed cycles : 5).[0m +341.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966560 ms (missed cycles : 3).[0m +342.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034388 ms (missed cycles : 3).[0m +343.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279124 ms (missed cycles : 5).[0m +344.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560808 ms (missed cycles : 2).[0m +345.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704455 ms (missed cycles : 5).[0m +346.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.421434 ms (missed cycles : 6).[0m +347.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254446 ms (missed cycles : 3).[0m +348.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886204 ms (missed cycles : 2).[0m +349.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391006 ms (missed cycles : 4).[0m +350.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392756 ms (missed cycles : 4).[0m +351.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782675076.13697290 seconds +351.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990823 ms (missed cycles : 2).[0m +352.31sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782675076.68759131 seconds. +352.60sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). +352.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725516 ms (missed cycles : 2).[0m +354.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293330 ms (missed cycles : 2).[0m +355.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543584 ms (missed cycles : 3).[0m +356.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518778 ms (missed cycles : 2).[0m +356.87sINFOobjective_server_nodeFound path in 0 iterations (6.7e-07 s). +356.88sINFOobjective_server_nodePath shortcutter: [X__________________X] +356.91sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). +356.94sINFOobjective_server_nodePath shortcutter: [X____________________X] +356.97sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). +357.01sINFOobjective_server_nodePath shortcutter: [X_________________________X] +357.05sINFOobjective_server_nodeFound path in 0 iterations (9.7e-07 s). +357.16sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +357.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094695 ms (missed cycles : 3).[0m +357.20sINFOobjective_server_nodeFound path in 0 iterations (5.1e-07 s). +357.39sINFOobjective_server_nodeFound path in 69 iterations (0.0375326 s). +357.54sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] +357.59sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 +357.87sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +358.17sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +358.21sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +358.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466089 ms (missed cycles : 2).[0m +359.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231295 ms (missed cycles : 2).[0m +360.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551172 ms (missed cycles : 3).[0m +361.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572636 ms (missed cycles : 4).[0m +362.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931515 ms (missed cycles : 2).[0m +363.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203243 ms (missed cycles : 4).[0m +364.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782675088.59000254 seconds +364.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901968 ms (missed cycles : 3).[0m +364.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782675089.16530895 seconds. +365.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782675089.56544232 seconds +365.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782675090.11492729 seconds. +365.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939394 ms (missed cycles : 5).[0m +366.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782675090.48512626 seconds +366.34sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +367.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890555 ms (missed cycles : 3).[0m +367.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556814 ms (missed cycles : 4).[0m +368.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789750 ms (missed cycles : 5).[0m +369.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302587 ms (missed cycles : 2).[0m +370.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029295 ms (missed cycles : 3).[0m +372.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007075 ms (missed cycles : 4).[0m +372.32sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.32sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.33sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.33sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.33sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.34sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.34sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.34sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.34sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.35sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.35sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.35sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] +372.37sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.37sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.38sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.38sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.38sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.38sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.39sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] +372.40sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.40sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.41sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +372.41sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] +372.43sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] +372.44sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] +372.46sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +372.47sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] +372.49sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] +372.51sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] +372.53sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] +372.54sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] +372.56sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +372.56sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] +372.59sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] +372.61sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +372.63sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +372.63sERRORmove_group-20process has died [pid 9215, 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__vw_a6r9 --params-file /tmp/launch_params_pyj5jybi --params-file /tmp/launch_params_8mt3n9hw --params-file /tmp/launch_params_3yeaql4g --params-file /tmp/launch_params_zb9twel2 --params-file /tmp/launch_params_0zwau37h --params-file /tmp/launch_params_f6c_v8hu --params-file /tmp/launch_params__54c77_9 --params-file /tmp/launch_params_awu1q09p']. +372.63sINFOweb_video_server-31process has finished cleanly [pid 9284] +372.64sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +372.66sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +372.66sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +372.67sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +372.69sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +372.70sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +372.70sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +372.70sERRORui_teleop_bridgeTraceback (most recent call last): +372.70sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +372.70sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +372.70sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +372.70sINFOui_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 +372.70sINFOui_teleop_bridgerclpy.shutdown() +372.71sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +372.71sINFOui_teleop_bridge_shutdown(context=context) +372.71sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +372.71sINFOui_teleop_bridgecontext.shutdown() +372.71sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +372.71sINFOui_teleop_bridgeself.__context.shutdown() +372.71sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +372.71sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m +372.71sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +372.71sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +372.71sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +372.71sINFOcomponent_container_mtStopping planning scene monitor[0m +372.71sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +372.71sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +372.71sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +372.71sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +372.71sERRORmove_groupwhat(): context cannot be slept with because it's invalid +372.71sERRORmove_groupStack trace (most recent call last) in thread 9765: +372.71sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +372.71sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8c0c6c7a63, in __clone +372.71sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8c0c63aaa3, in +372.71sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8c0c8ccdb3, in +372.71sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f8c0cf211c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +372.71sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8c0cc3f4d0, in rclcpp::Rate::sleep() +372.71sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8c0cb92a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +372.71sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8c0cb57a71, in +372.71sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8c0c89b390, in __cxa_throw +372.71sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8c0c885a54, in std::terminate() +372.71sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8c0c89b0d9, in +372.71sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8c0c885ff4, in +372.71sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8c0c5c68fe, in abort +372.71sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8c0c5e327d, in raise +372.71sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8c0c63cb2c, in pthread_kill +372.71sERRORmove_groupAborted (Signal sent by tkill() 9215 0) +372.71sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +372.71sINFOros2_control_nodeShutdown request received....[0m +372.71sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +372.71sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +372.71sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +372.71sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +372.71sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +372.71sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +372.71sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +372.72sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +372.72sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +372.72sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +372.72sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +372.72sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +372.72sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +372.72sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +372.72sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +372.72sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +372.72sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +372.72sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +372.72sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +372.72sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +372.72sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +372.72sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +372.72sINFOros2_control_nodeShutting down the controller manager.[0m +372.72sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +372.72sINFOobjective_server_node[2026-06-28 19:31:36.981] [moveit_pro_license] [info] +372.72sINFOobjective_server_node* Application has successfully terminated +372.72sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +372.72sERRORobjective_server_nodeStack trace (most recent call last): +372.72sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +372.72sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5555869ab6a4, in _start +372.72sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f221bc2f28a, in __libc_start_main +372.72sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f221bc2f1d0, in +372.72sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f221bc4cbbd, in exit +372.72sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f221bc4ca75, in +372.72sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f221c11e4a2, in spdlog::details::registry::~registry() +372.72sERRORodom_qos_relay.pyTraceback (most recent call last): +372.72sINFOodom_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> +372.72sINFOodom_qos_relay.pymain() +372.72sINFOodom_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 +372.72sINFOodom_qos_relay.pyrclpy.spin(node) +372.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +372.72sINFOodom_qos_relay.pyexecutor.spin_once() +372.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +372.72sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +372.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +372.72sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +372.72sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +372.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +372.72sINFOodom_qos_relay.pyreturn next(self._cb_iter) +372.72sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +372.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +372.72sINFOodom_qos_relay.pyraise ExternalShutdownException() +372.72sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +372.72sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f221c12969d, 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() +372.72sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f221c123965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +372.72sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5555869b2315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +372.72sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5555869b15a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +372.72sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5555869adb7b, in spdlog_ros::RosSink::~RosSink() +372.72sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5555869abd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +372.73sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f221c7c5454, in rclcpp::Node::~Node() +372.73sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f221c780515, in +372.73sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f221c7c3d20, in +372.73sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f221c7c3c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +372.73sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f221c7805d9, in +372.73sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f221c785161, in rclcpp::CallbackGroup::~CallbackGroup() +372.73sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f21c7ae8120]) +372.73sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×3 +372.73sERRORobjective_server_node_main-25process has died [pid 9274, 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_f5ut7f9_ --params-file /tmp/launch_params_m_p9xlsc --params-file /tmp/launch_params_a_ie51aj --params-file /tmp/launch_params_cyf9lkbv --params-file /tmp/launch_params_ysl8chz6 --params-file /tmp/launch_params_xzzzgc6n --params-file /tmp/launch_params_wxgp282j --params-file /tmp/launch_params_oa6inhu6 --params-file /tmp/launch_params_e8jb8xvu']. +372.73sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system +372.73sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +372.81sINFOros2_control_nodeAsync messages lost 0[0m ×2 +372.81sINFOros2_control_nodepublish_async_failures_ 1[0m +372.82sINFOros2_control_nodepublish_async_failures_ 2[0m +373.44sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9283] +373.44sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system +373.53sINFOexecute_objective_bridge-27process has finished cleanly [pid 9279] +373.54sERRORui_teleop_bridge-28process has died [pid 9281, 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_amvyh48l']. +373.54sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9253] +373.55sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9218] +373.60sINFOparameter_manager_node-21process has finished cleanly [pid 9216] +373.62sINFOwaypoint_manager_node-22process has finished cleanly [pid 9217] +373.65sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9125] +373.67sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9124] +373.69sINFOstatic_transform_publisher-4process has finished cleanly [pid 9122] +373.71sINFOstatic_transform_publisher-3process has finished cleanly [pid 9121] +373.72sINFOstatic_transform_publisher-2process has finished cleanly [pid 9120] +373.74sERRORodom_qos_relay.py-5process has died [pid 9123, 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']. +374.69sINFOcomponent_container_mt-26process has finished cleanly [pid 9278] +375.01sINFOweb_bridge-29process has finished cleanly [pid 9282] +375.01sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system +375.34sINFOros2_control_node-8process has finished cleanly [pid 9126] +377.32sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +377.33sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] +377.34sERRORcomponent_container_isolated-1process has died [pid 9119, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_xnqrfw5z --params-file /tmp/launch_params_q5htkyjx -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +383.85sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-28-19-31-45-767061-fd2c809caa28-10106 ×2 +392.21sINFOstatic_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' +392.21sINFOstatic_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' +392.22sINFOstatic_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' +392.26sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +392.28sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +392.28sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +392.28sINFOcontroller_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. +392.30sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +392.32sINFOcontroller_serverCreating controller server +392.32sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +392.34sINFOcontroller_managerupdate rate is 600 Hz +392.34sINFOcontroller_managerOverruns handling is : enabled +392.34sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +392.34sWARNcontroller_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. +392.34sINFOlocal_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. +392.35sINFOlocal_costmap.local_costmapCreating Costmap +392.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685502 ms (missed cycles : 2). +392.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +392.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +392.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +392.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +392.44sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +392.47sINFOmap_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. +392.47sINFOmap_serverCreating +392.47sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +392.47sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +392.47sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +392.50sINFOros2_control_node-8process started with pid [10162] ×2 +392.50sINFOmove_group-20process started with pid [10251] ×2 +392.50sINFOparameter_manager_node-21process started with pid [10252] ×2 +392.50sINFOwaypoint_manager_node-22process started with pid [10253] ×2 +392.50sINFOmove_joint_resampler_node-23process started with pid [10254] ×2 +392.50sINFOmove_end_effector_resampler_node-24process started with pid [10297] ×2 +392.50sINFOobjective_server_node_main-25process started with pid [10315] ×2 +392.50sINFOcomponent_container_mt-26process started with pid [10318] ×2 +392.50sINFOexecute_objective_bridge-27process started with pid [10319] ×2 +392.50sINFOsmoother_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. +392.50sINFOui_teleop_bridge-28process started with pid [10320] ×2 +392.50sINFOweb_bridge-29process started with pid [10321] ×2 +392.50sINFOtf2_web_republisher_node-30process started with pid [10322] ×2 +392.51sINFOweb_video_server-31process started with pid [10324] ×2 +392.51sINFOcomponent_container_isolated-1process started with pid [10155] ×2 +392.51sINFOstatic_transform_publisher-2process started with pid [10156] ×2 +392.51sINFOstatic_transform_publisher-3process started with pid [10157] ×2 +392.51sINFOstatic_transform_publisher-4process started with pid [10158] ×2 +392.51sINFOodom_qos_relay.py-5process started with pid [10159] ×2 +392.51sINFOscan_to_scan_filter_chain-6process started with pid [10160] ×2 +392.51sINFOscan_to_scan_filter_chain-7process started with pid [10161] ×2 +392.51sINFOros2-9process started with pid [10240] ×2 +392.51sINFOros2-10process started with pid [10241] ×2 +392.51sINFOros2-11process started with pid [10242] ×2 +392.51sINFOros2-12process started with pid [10243] ×2 +392.51sINFOros2-13process started with pid [10244] ×2 +392.51sINFOros2-14process started with pid [10245] ×2 +392.51sINFOros2-15process started with pid [10246] ×2 +392.51sINFOros2-16process started with pid [10247] ×2 +392.51sINFOros2-17process started with pid [10248] ×2 +392.51sINFOros2-18process started with pid [10249] ×2 +392.51sINFOros2-19process started with pid [10250] ×2 +392.52sINFOsmoother_serverCreating smoother server +392.52sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +392.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +392.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +392.54sINFOlifecycle_manager_localizationCreating +392.56sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +392.56sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +392.56sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +392.56sINFOmap_serverConfiguring +392.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +392.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +392.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +392.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685502 ms (missed cycles : 2).[0m ×2 +392.62sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +392.62sINFOmap_serverActivating +392.62sINFOmap_serverCreating bond (map_server) to lifecycle manager. +392.63sINFOplanner_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. +392.65sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +392.65sINFOplanner_serverCreating +392.67sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +392.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +392.68sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +392.68sINFOglobal_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. +392.68sINFOglobal_costmap.global_costmapCreating Costmap +392.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +392.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +392.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +392.74sINFOlifecycle_manager_localizationServer map_server connected with bond. +392.74sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +392.74sINFObehavior_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. +392.74sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +392.76sINFOrobot_state_publisherRobot initialized +392.77sINFOcontroller_managerReceived robot description from topic. +392.77sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +392.80sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +392.80sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +392.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +392.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +392.83sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +392.83sINFObt_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. +392.85sINFObt_navigatorCreating +392.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +392.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +392.86sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +392.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +392.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +392.90sINFOwaypoint_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. +392.91sINFOwaypoint_followerCreating +392.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +392.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +392.92sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +392.95sINFOvelocity_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. +392.97sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +392.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +392.98sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +392.98sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +392.98sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +392.98sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +392.98sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +392.98sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +392.98sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +392.98sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +393.01sINFOlifecycle_manager_navigationCreating +393.01sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +393.02sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +393.02sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +393.03sINFOcontroller_serverConfiguring controller interface +393.03sINFOcontroller_servergetting progress checker plugins.. +393.03sINFOcontroller_servergetting goal checker plugins.. +393.03sINFOcontroller_serverController frequency set to 20.0000Hz +393.03sINFOlocal_costmap.local_costmapConfiguring +393.04sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +393.04sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +393.09sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +393.09sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +393.09sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +393.13sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +393.13sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.358052 seconds +393.13sINFOcontroller_serverController Server has progress_checker progress checkers available. +393.13sINFOmove_groupLoaded robot model in 0.358052 seconds[0m ×2 +393.13sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +393.13sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +393.14sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +393.14sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +393.15sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +393.19sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +393.20sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +393.20sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +393.22sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +393.22sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +393.22sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +393.22sWARNlaser_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. +393.22sWARNlaser_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. +393.22sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +393.23sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +393.23sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +393.24sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +393.24sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +393.24sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +393.25sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +393.25sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +393.26sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +393.26sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +393.26sINFOcontroller_serverOptimizer reset +393.28sINFOcontroller_serverController Server has FollowPath controllers available. +393.29sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +393.29sINFOsmoother_serverConfiguring smoother server +393.31sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +393.32sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +393.33sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +393.33sINFOplanner_serverConfiguring +393.33sINFOglobal_costmap.global_costmapConfiguring +393.34sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +393.36sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +393.36sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +393.36sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +393.37sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +393.41sINFOwaypoint_manager_nodeLoaded robot model in 0.342366 seconds[0m ×2 +393.44sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +393.44sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +393.45sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +393.51sFATALplanner_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 +393.51sINFOplanner_serverCleaning up +393.51sINFOglobal_costmap.global_costmapCleaning up +393.51sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +393.53sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +393.54sWARNmove_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. +393.54sWARNmove_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. +393.54sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +393.54sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +393.55sWARNmove_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. +393.55sWARNmove_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. +393.56sWARNmove_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. +393.56sWARNmove_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. +393.56sWARNmove_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. +393.56sWARNmove_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. +393.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484146 ms (missed cycles : 2). +393.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484146 ms (missed cycles : 2).[0m ×2 +393.89sWARNwaypoint_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. +393.89sWARNwaypoint_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. +393.90sWARNwaypoint_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. +393.90sWARNwaypoint_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. +393.90sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +393.91sWARNwaypoint_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. +394.07sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +394.07sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +394.07sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +394.12sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +394.12sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +394.12sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +394.13sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +394.13sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +394.13sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +394.13sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +394.13sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +394.13sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +394.13sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +394.13sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +394.72sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +394.72sINFOcontroller_managerActivating component 'ur_mujoco_control'. +394.72sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +394.72sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +394.75sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +394.75sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +394.83sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +394.83sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +394.83sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh +394.83sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 +394.85sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +394.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +394.86sINFOforce_torque_sensor_broadcasterconfigure successful +394.86sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +394.86sINFOcontroller_managerSuccessfully switched controllers! ×7 +394.87sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +394.97sINFOobjective_server_node[2026-06-28 19:31:59.349] [moveit_pro_license] [info] ×2 +395.02sINFOobjective_server_nodeLoaded robot model in 0.022045 seconds[0m ×2 +395.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +395.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +395.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +395.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +395.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +395.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +395.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +395.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +395.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +395.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +395.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +395.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +395.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +395.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +395.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +395.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +395.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +395.03sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +395.05sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +395.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844962 ms (missed cycles : 2). +395.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844962 ms (missed cycles : 2).[0m ×2 +395.20sINFOros2-9process has finished cleanly [pid 10240] ×2 +395.20sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... +395.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +395.21sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +395.28sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +395.28sWARNobjective_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. +395.28sWARNobjective_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. +395.28sWARNobjective_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. +395.28sWARNobjective_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. +395.28sWARNobjective_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. +395.28sWARNobjective_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. +395.28sWARNobjective_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. +395.28sWARNobjective_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. +395.28sWARNobjective_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. +395.28sWARNobjective_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. +395.42sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +395.46sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +395.46sINFOcontroller_managerLoading controller 'vacuum_gripper' +395.46sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh +395.46sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 +395.48sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +395.49sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +395.49sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +395.49sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +395.49sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +395.50sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +395.58sINFOcomponent_container_mtLoaded robot model in 0.360714 seconds[0m ×2 +395.83sWARNplanning_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. +395.84sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +395.84sWARNplanning_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. +395.84sWARNplanning_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. +395.84sWARNplanning_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. +395.84sWARNplanning_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. +395.84sWARNplanning_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. +395.84sWARNplanning_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. +395.84sWARNplanning_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. +395.84sWARNplanning_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. +395.84sWARNplanning_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. +395.84sWARNplanning_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. +395.84sWARNplanning_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. +395.84sWARNplanning_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. +395.84sWARNplanning_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. +395.84sWARNplanning_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. +395.84sWARNplanning_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. +395.84sWARNplanning_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. +395.84sWARNplanning_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. +395.85sWARNplanning_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. +395.85sWARNplanning_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. +395.85sWARNplanning_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. +395.85sWARNplanning_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. +395.85sWARNplanning_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. +395.85sWARNplanning_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. +395.85sWARNplanning_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. +395.85sWARNplanning_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. +395.86sWARNplanning_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. +395.86sWARNplanning_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. +395.86sINFOros2-13process has finished cleanly [pid 10244] ×2 +396.09sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +396.09sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +396.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340950 ms (missed cycles : 4). +396.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340950 ms (missed cycles : 4).[0m ×2 +396.20sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh +396.20sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 +396.22sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +396.22sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +396.49sINFOros2_control_node[2026-06-28 19:32:00.872] [info] Controller state will be published at 20 Hz. ×2 +396.50sINFOros2_control_node[2026-06-28 19:32:00.874] [info] JointVelocityController 'on_configure' succeeded. ×2 +396.50sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +396.50sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +396.50sINFOstreaming_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) +396.64sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds +396.69sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers +396.69sINFOmove_groupMoveGroup debug mode is ON +396.81sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +396.81sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +396.84sINFOros2-19process has finished cleanly [pid 10250] ×2 +396.88sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh +396.88sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 +396.94sINFOmove_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 ******************************************************** +396.94sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +396.94sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +397.20sINFOros2_control_node[2026-06-28 19:32:01.581] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +397.20sINFOros2_control_node[2026-06-28 19:32:01.583] [info] Controller state will be published at 10 Hz. ×2 +397.21sINFOros2_control_node[2026-06-28 19:32:01.584] [info] VelocityForceController 'on_configure' succeeded. ×2 +397.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501378 ms (missed cycles : 3). +397.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501378 ms (missed cycles : 3).[0m ×2 +397.55sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +397.55sINFOros2-17process has finished cleanly [pid 10248] ×2 +397.80sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +397.80sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +397.80sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh +397.80sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 +397.82sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +397.83sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +397.83sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +397.84sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +398.14sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +398.14sINFOcontroller_managerLoading controller 'velocity_force_controller' +398.14sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh +398.15sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 +398.17sINFOros2-10process has finished cleanly [pid 10241] ×2 +398.20sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +398.21sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +398.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146820 ms (missed cycles : 2). +398.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146820 ms (missed cycles : 2).[0m ×2 +398.48sINFOros2_control_node[2026-06-28 19:32:02.854] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +398.48sINFOros2_control_node[2026-06-28 19:32:02.856] [info] Controller state will be published at 10 Hz. ×2 +398.48sINFOros2_control_node[2026-06-28 19:32:02.857] [info] VelocityForceController 'on_configure' succeeded. ×2 +398.82sINFOros2-16process has finished cleanly [pid 10247] ×2 +398.85sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +399.10sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +399.10sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +399.11sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh +399.11sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 +399.13sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +399.13sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +399.14sINFOplatform_velocity_controller_nav2configure successful +399.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4). +399.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4).[0m ×2 +399.42sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +399.42sINFOcontroller_managerLoading controller 'platform_velocity_controller' +399.42sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh +399.42sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 +399.46sINFOros2-14process has finished cleanly [pid 10245] ×2 +399.48sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +399.48sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +399.49sINFOplatform_velocity_controllerconfigure successful +399.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +399.51sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +399.83sINFOros2-12process has finished cleanly [pid 10243] ×2 +399.83sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +400.08sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +400.08sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +400.09sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh +400.09sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 +400.11sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +400.11sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +400.11sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +400.11sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +400.11sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +400.12sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +400.13sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +400.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). +400.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 +400.44sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +400.44sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +400.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh +400.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 +400.46sINFOros2-11process has finished cleanly [pid 10242] ×2 +400.56sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +400.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +400.56sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +400.56sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +400.56sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +400.56sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +400.57sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +400.91sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +400.91sINFOcontroller_managerLoading controller 'joint_velocity_controller' +400.91sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh +400.91sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 +400.93sINFOros2-15process has finished cleanly [pid 10246] ×2 +400.98sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +400.98sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +401.25sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 +401.25sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 +401.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). +401.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 +401.58sINFOros2-18process has finished cleanly [pid 10249] ×2 +401.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 +401.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +401.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +401.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 +402.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). +402.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 +402.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 +402.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 +402.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 +403.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 +403.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). +403.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 +403.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 +403.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +403.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +403.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +403.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. +403.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +403.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +403.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 +404.29sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 +404.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). +404.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 +404.75sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +405.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3
✓ passed	—	vector_subtrees_example.xml	0.7s	6 errors · 27 warnings · 266 info
+ 0.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.00sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.01sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.01sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.03sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 0.03sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.03sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.03sINFOplatform_velocity_controller_nav2configure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×4 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4).[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.32sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.32sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.32sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.32sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.32sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.36sINFOros2-14process has finished cleanly [pid 10245] ×2 + 0.38sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.38sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.38sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.38sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.39sINFOplatform_velocity_controllerconfigure successful + 0.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.41sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.41sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.72sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.73sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.98sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.98sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.98sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.98sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.98sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.98sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.01sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.01sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.01sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.01sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.01sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.01sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.01sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.02sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.34sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.34sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.34sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.34sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 10242] ×2 + 1.46sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.46sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.46sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.46sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.46sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.46sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.46sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.46sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.47sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.47sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.81sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.81sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.81sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.81sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.83sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.88sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.88sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.88sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.88sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.89sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.15sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 2.15sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 2.48sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.77sINFOmove_groupClearing octomap...[0m ×2 + 2.77sINFOmove_groupOctomap cleared.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 4.62sINFOobjective_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 + 4.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 5.19sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sERRORobjective_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 + 5.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 6.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 6.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
✓ passed	—	reset_planning_scene.xml	0.5s	6 errors · 27 warnings · 277 info
+ 0.00sINFOros2_control_node[2026-06-28 19:32:02.854] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-28 19:32:02.856] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-28 19:32:02.857] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOros2-16process has finished cleanly [pid 10247] ×2 + 0.37sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 0.37sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.63sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.63sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.63sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.63sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.63sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.66sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 0.66sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.66sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.66sINFOplatform_velocity_controller_nav2configure successful + 0.66sINFOros2_control_nodeconfigure successful[0m ×4 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.95sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.95sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.98sINFOros2-14process has finished cleanly [pid 10245] ×2 + 1.01sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.01sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.01sINFOplatform_velocity_controllerconfigure successful + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.03sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.04sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.35sINFOros2-12process has finished cleanly [pid 10243] ×2 + 1.35sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.60sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.60sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.61sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.61sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.61sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.61sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.63sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.63sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.63sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.63sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.64sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.64sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.64sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.65sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.65sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.65sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.66sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 1.97sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.97sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.97sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.97sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.97sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.99sINFOros2-11process has finished cleanly [pid 10242] ×2 + 2.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.09sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.09sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.09sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.09sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.09sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.43sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.43sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.43sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.43sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 2.43sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.43sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 2.45sINFOros2-15process has finished cleanly [pid 10246] ×2 + 2.50sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.50sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.51sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.51sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.52sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.77sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 2.77sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 3.11sINFOros2-18process has finished cleanly [pid 10249] ×2 + 3.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.39sINFOmove_groupClearing octomap...[0m ×2 + 3.39sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 5.24sINFOobjective_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 + 5.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 6.28sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.58sERRORobjective_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 + 6.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 7.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 7.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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/2026-06-28-19-31-45-767061-fd2c809caa28-10106 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2
− skipped	—	teleoperate.xml	0.0s	6 errors · 27 warnings · 266 info
+ 0.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.00sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.01sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.01sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.03sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 0.03sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.03sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.03sINFOplatform_velocity_controller_nav2configure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×4 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4).[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.32sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.32sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.32sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.32sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.32sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.36sINFOros2-14process has finished cleanly [pid 10245] ×2 + 0.38sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.38sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.38sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.38sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.39sINFOplatform_velocity_controllerconfigure successful + 0.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.41sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.41sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.72sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.73sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.98sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.98sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.98sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.98sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.98sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.98sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.01sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.01sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.01sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.01sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.01sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.01sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.01sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.02sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.34sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.34sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.34sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.34sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 10242] ×2 + 1.46sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.46sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.46sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.46sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.46sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.46sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.46sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.46sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.47sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.47sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.81sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.81sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.81sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.81sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.83sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.88sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.88sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.88sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.88sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.89sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.15sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 2.15sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 2.48sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.77sINFOmove_groupClearing octomap...[0m ×2 + 2.77sINFOmove_groupOctomap cleared.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 4.62sINFOobjective_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 + 4.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.62sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 5.19sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sERRORobjective_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 + 5.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 6.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 6.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	6 errors · 24 warnings · 259 info
+ 0.00sINFOros2_control_node[2026-06-28 19:32:02.854] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-28 19:32:02.856] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-28 19:32:02.857] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOros2-16process has finished cleanly [pid 10247] ×2 + 0.37sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 0.37sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.63sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.63sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.63sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.63sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.63sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.66sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 0.66sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.66sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.66sINFOplatform_velocity_controller_nav2configure successful + 0.66sINFOros2_control_nodeconfigure successful[0m ×4 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.95sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.95sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.98sINFOros2-14process has finished cleanly [pid 10245] ×2 + 1.01sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.01sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.01sINFOplatform_velocity_controllerconfigure successful + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.04sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.04sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.35sINFOros2-12process has finished cleanly [pid 10243] ×2 + 1.35sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.60sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.60sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.61sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.61sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.61sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.61sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.63sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.63sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.63sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.63sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.64sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.64sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.64sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.65sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.65sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.65sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.66sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 1.97sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.97sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.97sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.97sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.97sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.99sINFOros2-11process has finished cleanly [pid 10242] ×2 + 2.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.09sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.09sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.09sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.09sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.09sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.43sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.43sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.43sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.43sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 2.43sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.43sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 2.45sINFOros2-15process has finished cleanly [pid 10246] ×2 + 2.50sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.50sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.51sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.51sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.52sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.77sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 2.77sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 3.11sINFOros2-18process has finished cleanly [pid 10249] ×2 + 3.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.39sINFOmove_groupClearing octomap...[0m ×2 + 3.39sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 5.24sINFOobjective_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 + 5.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 6.28sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.58sERRORobjective_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 + 6.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3
− skipped	—	createvector.xml	0.0s	6 errors · 24 warnings · 259 info
+ 0.00sINFOros2_control_node[2026-06-28 19:32:02.854] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-28 19:32:02.856] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-28 19:32:02.857] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOros2-16process has finished cleanly [pid 10247] ×2 + 0.37sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 0.37sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.63sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.63sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.63sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.63sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.63sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.66sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 0.66sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.66sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.66sINFOplatform_velocity_controller_nav2configure successful + 0.66sINFOros2_control_nodeconfigure successful[0m ×4 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.95sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.95sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.98sINFOros2-14process has finished cleanly [pid 10245] ×2 + 1.01sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.01sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.01sINFOplatform_velocity_controllerconfigure successful + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.04sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.04sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.35sINFOros2-12process has finished cleanly [pid 10243] ×2 + 1.35sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.60sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.60sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.61sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.61sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.61sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.61sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.63sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.63sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.63sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.63sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.64sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.64sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.64sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.65sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.65sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.65sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.66sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 1.97sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.97sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.97sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.97sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.97sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.99sINFOros2-11process has finished cleanly [pid 10242] ×2 + 2.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.09sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.09sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.09sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.09sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.09sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.43sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.43sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.43sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.43sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 2.43sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.43sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 2.45sINFOros2-15process has finished cleanly [pid 10246] ×2 + 2.50sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.50sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.51sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.51sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.52sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.77sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 2.77sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 3.11sINFOros2-18process has finished cleanly [pid 10249] ×2 + 3.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.39sINFOmove_groupClearing octomap...[0m ×2 + 3.39sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 5.24sINFOobjective_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 + 5.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 6.28sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.58sERRORobjective_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 + 6.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	6 errors · 24 warnings · 259 info
+ 0.00sINFOros2_control_node[2026-06-28 19:32:02.854] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-28 19:32:02.856] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-28 19:32:02.857] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOros2-16process has finished cleanly [pid 10247] ×2 + 0.37sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 0.37sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.63sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.63sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.63sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.63sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.63sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.66sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 0.66sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.66sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.66sINFOplatform_velocity_controller_nav2configure successful + 0.66sINFOros2_control_nodeconfigure successful[0m ×4 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895201 ms (missed cycles : 4).[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.95sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.95sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.98sINFOros2-14process has finished cleanly [pid 10245] ×2 + 1.01sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.01sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.01sINFOplatform_velocity_controllerconfigure successful + 1.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.04sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.04sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.35sINFOros2-12process has finished cleanly [pid 10243] ×2 + 1.35sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.60sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.60sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.61sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.61sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.61sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.61sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.63sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.63sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.63sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.63sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.64sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.64sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.64sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.65sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.65sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.65sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.66sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 1.97sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.97sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.97sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.97sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.97sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.99sINFOros2-11process has finished cleanly [pid 10242] ×2 + 2.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.09sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.09sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.09sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.09sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.09sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.43sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.43sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.43sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.43sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 2.43sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.43sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 2.45sINFOros2-15process has finished cleanly [pid 10246] ×2 + 2.50sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.50sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.51sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.51sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.52sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.77sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 2.77sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 3.11sINFOros2-18process has finished cleanly [pid 10249] ×2 + 3.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.39sINFOmove_groupClearing octomap...[0m ×2 + 3.39sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 5.24sINFOobjective_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 + 5.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 6.28sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.58sERRORobjective_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 + 6.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

10 skip

− skipped	—	move_to_waypoint.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	move_to_pose.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	track_moving_frame.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	6 errors · 30 warnings · 228 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378542 ms (missed cycles : 3). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378542 ms (missed cycles : 3).[0m ×2 + 6.91sWARNobjective_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 + 6.91sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.17sINFOjoint_trajectory_controllerReceived new action goal + 7.17sINFOjoint_trajectory_controllerAccepted new action goal + 7.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.17sINFOros2_control_nodeAccepted new action goal[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	visualize_tf.xml	0.0s	6 errors · 24 warnings · 219 info
+ 0.00sINFOros2-12process has finished cleanly [pid 10243] ×2 + 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844989 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 0.64sINFOros2-11process has finished cleanly [pid 10242] ×2 + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.74sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_98m7ef7w --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dokpr8l9 --params-file /tmp/launch_params_0a6o0uzh [0m ×2 + 1.10sINFOros2-15process has finished cleanly [pid 10246] ×2 + 1.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.627] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-28 19:32:05.628] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650478 ms (missed cycles : 4).[0m ×2 + 1.76sINFOros2-18process has finished cleanly [pid 10249] ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675126.24589133 seconds. ×3 + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.04sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675126.25611782 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098177 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675126.80272937 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675126.81287384 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675127.35550833 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675127.50613880 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352347 ms (missed cycles : 4).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675128.07308483 seconds. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675128.13320804 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675128.67511725 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741597 ms (missed cycles : 3).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sERRORobjective_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 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675129.43534374 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246051 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675130.07526493 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2