68
Total objective tests
16
Objectives passed
1
Objectives failed
51
Objectives skipped
22.3s
Avg test time
94%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives1 fail12 pass24 skip
| ✕ failed | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 1.1s | 6 errors · 27 warnings · 177 info |
+ 0.00sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.00sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.00sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.01sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.06sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.06sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.06sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.08sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.08sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.42sINFOros2-13process has finished cleanly [pid 10268] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.44sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.50sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 0.50sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.51sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.51sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.78sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.78sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.12sINFOros2-17process has finished cleanly [pid 10272] ×2 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 1.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.37sINFOmove_groupClearing octomap...[0m ×2 + 1.37sINFOmove_groupOctomap cleared.[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 1.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.22sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.22sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.22sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 4.38sERRORobjective_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 + 4.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.07sWARNobjective_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 + 6.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767900 ms (missed cycles : 2). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767900 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 72.2s | 3 errors · 231 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391395 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391395 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983088 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983088 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.931387 ms (missed cycles : 8). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.931387 ms (missed cycles : 8).[0m ×2 + 2.50sINFOjoint_trajectory_controllerGot request to cancel goal + 2.50sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.50sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.51sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782675974.76554036 seconds ×3 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782675975.30885124 seconds. ×3 + 3.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098087 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098087 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 4.32sINFOjoint_trajectory_controllerReceived new action goal ×5 + 4.32sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 4.32sINFOros2_control_nodeReceived new action goal[0m ×10 + 4.32sINFOros2_control_nodeAccepted new action goal[0m ×10 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418101 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418101 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720141 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720141 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644125 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644125 ms (missed cycles : 3).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139295 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139295 ms (missed cycles : 3).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809187 ms (missed cycles : 4). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809187 ms (missed cycles : 4).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940220 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940220 ms (missed cycles : 2).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082662 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082662 ms (missed cycles : 2).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566942 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566942 ms (missed cycles : 3).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298157 ms (missed cycles : 2). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298157 ms (missed cycles : 2).[0m ×2 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.137439 ms (missed cycles : 8). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.137439 ms (missed cycles : 8).[0m ×2 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553205 ms (missed cycles : 5). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553205 ms (missed cycles : 5).[0m ×2 + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311471 ms (missed cycles : 2). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311471 ms (missed cycles : 2).[0m ×2 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.583231 ms (missed cycles : 4). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.583231 ms (missed cycles : 4).[0m ×2 + 17.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464603 ms (missed cycles : 3). + 17.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464603 ms (missed cycles : 3).[0m ×2 + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410223 ms (missed cycles : 3). + 18.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410223 ms (missed cycles : 3).[0m ×2 + 20.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.565209 ms (missed cycles : 4). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.565209 ms (missed cycles : 4).[0m ×2 + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834832 ms (missed cycles : 2). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834832 ms (missed cycles : 2).[0m ×2 + 22.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698332 ms (missed cycles : 3). + 22.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698332 ms (missed cycles : 3).[0m ×2 + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814512 ms (missed cycles : 3). + 23.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814512 ms (missed cycles : 3).[0m ×2 + 24.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811444 ms (missed cycles : 2). + 24.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811444 ms (missed cycles : 2).[0m ×2 + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953520 ms (missed cycles : 4). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953520 ms (missed cycles : 4).[0m ×2 + 26.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885262 ms (missed cycles : 4). + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885262 ms (missed cycles : 4).[0m ×2 + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345016 ms (missed cycles : 2). + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345016 ms (missed cycles : 2).[0m ×2 + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615337 ms (missed cycles : 3). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615337 ms (missed cycles : 3).[0m ×2 + 29.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.870877 ms (missed cycles : 7). + 29.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.870877 ms (missed cycles : 7).[0m ×2 + 30.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.089820 ms (missed cycles : 7). + 30.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.089820 ms (missed cycles : 7).[0m ×2 + 31.62sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 31.63sINFOros2_control_nodeGoal reached, success![0m ×8 + 31.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748450 ms (missed cycles : 5). + 31.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748450 ms (missed cycles : 5).[0m ×2 + 31.95sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 32.54sWARNobjective_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 + 32.54sINFOobjective_server_nodePlanning for 43 path waypoints. ×3 + 32.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288517 ms (missed cycles : 4). + 32.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288517 ms (missed cycles : 4).[0m ×2 + 33.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914273 ms (missed cycles : 2). + 33.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914273 ms (missed cycles : 2).[0m ×2 + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.916256 ms (missed cycles : 5). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.916256 ms (missed cycles : 5).[0m ×2 + 36.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675214 ms (missed cycles : 2). + 36.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675214 ms (missed cycles : 2).[0m ×2 + 37.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765981 ms (missed cycles : 2). + 37.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765981 ms (missed cycles : 2).[0m ×2 + 38.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125217 ms (missed cycles : 4). + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125217 ms (missed cycles : 4).[0m ×2 + 38.40sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293157 ms (missed cycles : 2). + 39.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293157 ms (missed cycles : 2).[0m ×2 + 40.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413907 ms (missed cycles : 4). + 40.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413907 ms (missed cycles : 4).[0m ×2 + 41.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559919 ms (missed cycles : 3). + 41.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559919 ms (missed cycles : 3).[0m ×2 + 42.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.188118 ms (missed cycles : 5). + 42.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.188118 ms (missed cycles : 5).[0m ×2 + 43.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905886 ms (missed cycles : 4). + 43.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905886 ms (missed cycles : 4).[0m ×2 + 44.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962623 ms (missed cycles : 4). + 44.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962623 ms (missed cycles : 4).[0m ×2 + 45.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221431 ms (missed cycles : 2). + 45.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221431 ms (missed cycles : 2).[0m ×2 + 46.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914171 ms (missed cycles : 5). + 46.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914171 ms (missed cycles : 5).[0m ×2 + 47.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533796 ms (missed cycles : 2). + 47.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533796 ms (missed cycles : 2).[0m ×2 + 48.42sINFOobjective_server_nodePlanning for 38 path waypoints. ×3 + 48.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185242 ms (missed cycles : 2). + 48.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185242 ms (missed cycles : 2).[0m ×2 + 49.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.206075 ms (missed cycles : 5). + 49.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.206075 ms (missed cycles : 5).[0m ×2 + 50.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877621 ms (missed cycles : 2). + 50.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877621 ms (missed cycles : 2).[0m ×2 + 51.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380118 ms (missed cycles : 2). + 51.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380118 ms (missed cycles : 2).[0m ×2 + 52.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207989 ms (missed cycles : 2). + 52.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207989 ms (missed cycles : 2).[0m ×2 + 53.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844632 ms (missed cycles : 2). + 53.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844632 ms (missed cycles : 2).[0m ×2 + 54.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923011 ms (missed cycles : 4). + 54.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923011 ms (missed cycles : 4).[0m ×2 + 56.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806474 ms (missed cycles : 3). + 56.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806474 ms (missed cycles : 3).[0m ×2 + 57.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234172 ms (missed cycles : 3). + 57.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234172 ms (missed cycles : 3).[0m ×2 + 58.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041831 ms (missed cycles : 6). + 58.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041831 ms (missed cycles : 6).[0m ×2 + 59.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200169 ms (missed cycles : 2). + 59.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200169 ms (missed cycles : 2).[0m ×2 + 60.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760137 ms (missed cycles : 5). + 60.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760137 ms (missed cycles : 5).[0m ×2 + 61.33sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 61.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174364 ms (missed cycles : 2). + 61.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174364 ms (missed cycles : 2).[0m ×2 + 62.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024415 ms (missed cycles : 2). + 62.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024415 ms (missed cycles : 2).[0m ×2 + 63.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629766 ms (missed cycles : 4). + 63.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629766 ms (missed cycles : 4).[0m ×2 + 64.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584737 ms (missed cycles : 3). + 64.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584737 ms (missed cycles : 3).[0m ×2 + 65.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774368 ms (missed cycles : 3). + 65.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774368 ms (missed cycles : 3).[0m ×2 + 66.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520395 ms (missed cycles : 2). + 66.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520395 ms (missed cycles : 2).[0m ×2 + 67.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885377 ms (missed cycles : 2). + 67.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885377 ms (missed cycles : 2).[0m ×2 + 68.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938591 ms (missed cycles : 3). + 68.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938591 ms (missed cycles : 3).[0m ×2 + 69.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.109845 ms (missed cycles : 6). + 69.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.109845 ms (missed cycles : 6).[0m ×2 + 70.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900513 ms (missed cycles : 2). + 70.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900513 ms (missed cycles : 2).[0m ×2 + 72.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2). + 72.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2).[0m ×2 + 73.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2). + 73.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2).[0m ×2 + 74.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2). + 74.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2).[0m ×2 + 74.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782676046.92900896 seconds ×3 + 75.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4). + 75.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4).[0m ×2 + 75.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782676047.48722243 seconds. ×3 + 75.59sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 76.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3). + 76.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3).[0m ×2 + 77.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3). + 77.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.3s | 183 warnings · 101 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782675812.86590791 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569232 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569232 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782675813.40733123 seconds. ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708225 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708225 ms (missed cycles : 3).[0m ×2 + 1.39sINFOobjective_server_nodeFound path in 0 iterations (2.0831e-05 s). ×2 + 1.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.41sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.41sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.42sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.42sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524631 ms (missed cycles : 5). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524631 ms (missed cycles : 5).[0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770171 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770171 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782675816.33745742 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782675816.87901616 seconds. ×3 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (8.9e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509488 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509488 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107994 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107994 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943703 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943703 ms (missed cycles : 3).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355324 ms (missed cycles : 4). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355324 ms (missed cycles : 4).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961889 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961889 ms (missed cycles : 3).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556232 ms (missed cycles : 5). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556232 ms (missed cycles : 5).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135616 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135616 ms (missed cycles : 3).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223468 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223468 ms (missed cycles : 3).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713094 ms (missed cycles : 4). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713094 ms (missed cycles : 4).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899137 ms (missed cycles : 2). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899137 ms (missed cycles : 2).[0m ×2 + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454272 ms (missed cycles : 5). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454272 ms (missed cycles : 5).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228076 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228076 ms (missed cycles : 2).[0m ×2 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713083 ms (missed cycles : 2). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713083 ms (missed cycles : 2).[0m ×2 + 17.80sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190217 ms (missed cycles : 2). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190217 ms (missed cycles : 2).[0m ×2 + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041738 ms (missed cycles : 3). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041738 ms (missed cycles : 3).[0m ×2 + 20.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533491 ms (missed cycles : 2). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533491 ms (missed cycles : 2).[0m ×2 + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872782 ms (missed cycles : 3). + 21.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872782 ms (missed cycles : 3).[0m ×2 + 22.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756252 ms (missed cycles : 2). + 22.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756252 ms (missed cycles : 2).[0m ×2 + 23.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396669 ms (missed cycles : 4). + 23.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396669 ms (missed cycles : 4).[0m ×2 + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796773 ms (missed cycles : 3). + 24.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796773 ms (missed cycles : 3).[0m ×2 + 25.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443057 ms (missed cycles : 4). + 25.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443057 ms (missed cycles : 4).[0m ×2 + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178335 ms (missed cycles : 3). + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178335 ms (missed cycles : 3).[0m ×2 + 27.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014486 ms (missed cycles : 4). + 27.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014486 ms (missed cycles : 4).[0m ×2 + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737115 ms (missed cycles : 3). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737115 ms (missed cycles : 3).[0m ×2 + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094320 ms (missed cycles : 4). + 29.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094320 ms (missed cycles : 4).[0m ×2 + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.259683 ms (missed cycles : 7). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.259683 ms (missed cycles : 7).[0m ×2 + 31.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174814 ms (missed cycles : 3). + 31.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174814 ms (missed cycles : 3).[0m ×2 + 32.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977616 ms (missed cycles : 3). + 32.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977616 ms (missed cycles : 3).[0m ×2 + 33.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231917 ms (missed cycles : 2). + 33.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231917 ms (missed cycles : 2).[0m ×2 + 34.20sWARNobjective_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 + 34.20sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505332 ms (missed cycles : 4). + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505332 ms (missed cycles : 4).[0m ×2 + 35.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909921 ms (missed cycles : 3). + 35.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909921 ms (missed cycles : 3).[0m ×2 + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965116 ms (missed cycles : 5). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965116 ms (missed cycles : 5).[0m ×2 + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403930 ms (missed cycles : 2). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403930 ms (missed cycles : 2).[0m ×2 + 38.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528348 ms (missed cycles : 4). + 38.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528348 ms (missed cycles : 4).[0m ×2 + 39.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434915 ms (missed cycles : 5). + 39.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434915 ms (missed cycles : 5).[0m ×2 + 40.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806154 ms (missed cycles : 6). + 40.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806154 ms (missed cycles : 6).[0m ×2 + 41.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.584389 ms (missed cycles : 6). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.584389 ms (missed cycles : 6).[0m ×2 + 42.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.525595 ms (missed cycles : 4). + 42.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.525595 ms (missed cycles : 4).[0m ×2 + 43.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558661 ms (missed cycles : 2). + 43.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558661 ms (missed cycles : 2).[0m ×2 + 45.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518934 ms (missed cycles : 5). + 45.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518934 ms (missed cycles : 5).[0m ×2 + 46.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078931 ms (missed cycles : 3). + 46.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078931 ms (missed cycles : 3).[0m ×2 + 47.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308068 ms (missed cycles : 5). + 47.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308068 ms (missed cycles : 5).[0m ×2 + 48.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545043 ms (missed cycles : 3). + 48.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545043 ms (missed cycles : 3).[0m ×2 + 49.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084492 ms (missed cycles : 2). + 49.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084492 ms (missed cycles : 2).[0m ×2 + 50.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130409 ms (missed cycles : 3). + 50.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130409 ms (missed cycles : 3).[0m ×2 + 51.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513379 ms (missed cycles : 3). + 51.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513379 ms (missed cycles : 3).[0m ×2 + 52.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819219 ms (missed cycles : 2). + 52.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819219 ms (missed cycles : 2).[0m ×2 + 53.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276884 ms (missed cycles : 2). + 53.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276884 ms (missed cycles : 2).[0m ×2 + 54.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.564886 ms (missed cycles : 4). + 54.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.564886 ms (missed cycles : 4).[0m ×2 + 55.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.656382 ms (missed cycles : 7). + 55.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.656382 ms (missed cycles : 7).[0m ×2 + 56.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251193 ms (missed cycles : 2). + 56.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251193 ms (missed cycles : 2).[0m ×2 + 57.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575970 ms (missed cycles : 3). + 57.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575970 ms (missed cycles : 3).[0m ×2 + 58.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558911 ms (missed cycles : 2). + 58.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558911 ms (missed cycles : 2).[0m ×2 + 59.85sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782675872.66914892 seconds ×3 + 60.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009306 ms (missed cycles : 4). + 60.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009306 ms (missed cycles : 4).[0m ×2 + 60.41sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782675873.22772932 seconds. ×3 + 60.69sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 60.71sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515202 ms (missed cycles : 2). + 61.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515202 ms (missed cycles : 2).[0m ×2 + 62.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817756 ms (missed cycles : 4). + 62.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817756 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 55.4s | 180 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032094 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032094 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327055 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327055 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575439 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575439 ms (missed cycles : 5).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.49sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.54sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782675908.52469468 seconds ×3 + 2.55sINFOros2_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` starting at time: 1782675909.07506323 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 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431758 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431758 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527546 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527546 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.32sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.32sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.32sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.32sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257244 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257244 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321252 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321252 ms (missed cycles : 5).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659285 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659285 ms (missed cycles : 3).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839297 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839297 ms (missed cycles : 2).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693523 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693523 ms (missed cycles : 2).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534688 ms (missed cycles : 3). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534688 ms (missed cycles : 3).[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712893 ms (missed cycles : 2). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712893 ms (missed cycles : 2).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798665 ms (missed cycles : 2). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798665 ms (missed cycles : 2).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948095 ms (missed cycles : 5). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948095 ms (missed cycles : 5).[0m ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492108 ms (missed cycles : 2). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492108 ms (missed cycles : 2).[0m ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133592 ms (missed cycles : 3). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133592 ms (missed cycles : 3).[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868507 ms (missed cycles : 4). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868507 ms (missed cycles : 4).[0m ×2 + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660010 ms (missed cycles : 3). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660010 ms (missed cycles : 3).[0m ×2 + 18.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861539 ms (missed cycles : 2). + 18.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861539 ms (missed cycles : 2).[0m ×2 + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055815 ms (missed cycles : 4). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055815 ms (missed cycles : 4).[0m ×2 + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162827 ms (missed cycles : 3). + 20.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162827 ms (missed cycles : 3).[0m ×2 + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467579 ms (missed cycles : 4). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467579 ms (missed cycles : 4).[0m ×2 + 22.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424296 ms (missed cycles : 4). + 22.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424296 ms (missed cycles : 4).[0m ×2 + 24.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208787 ms (missed cycles : 2). + 24.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208787 ms (missed cycles : 2).[0m ×2 + 25.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218981 ms (missed cycles : 3). + 25.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218981 ms (missed cycles : 3).[0m ×2 + 26.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749480 ms (missed cycles : 2). + 26.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749480 ms (missed cycles : 2).[0m ×2 + 27.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785556 ms (missed cycles : 2). + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785556 ms (missed cycles : 2).[0m ×2 + 28.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247844 ms (missed cycles : 3). + 28.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247844 ms (missed cycles : 3).[0m ×2 + 29.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004235 ms (missed cycles : 2). + 29.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004235 ms (missed cycles : 2).[0m ×2 + 30.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869686 ms (missed cycles : 2). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869686 ms (missed cycles : 2).[0m ×2 + 31.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466307 ms (missed cycles : 3). + 31.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466307 ms (missed cycles : 3).[0m ×2 + 31.86sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 32.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.466570 ms (missed cycles : 4). + 32.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.466570 ms (missed cycles : 4).[0m ×2 + 32.52sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 32.52sINFOobjective_server_nodePlanning for 53 path waypoints. ×3 + 33.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230385 ms (missed cycles : 2). + 33.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230385 ms (missed cycles : 2).[0m ×2 + 34.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414835 ms (missed cycles : 2). + 34.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414835 ms (missed cycles : 2).[0m ×2 + 35.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782925 ms (missed cycles : 2). + 35.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782925 ms (missed cycles : 2).[0m ×2 + 36.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460832 ms (missed cycles : 2). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460832 ms (missed cycles : 2).[0m ×2 + 37.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805020 ms (missed cycles : 2). + 37.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805020 ms (missed cycles : 2).[0m ×2 + 38.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617020 ms (missed cycles : 4). + 38.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617020 ms (missed cycles : 4).[0m ×2 + 39.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.682902 ms (missed cycles : 6). + 39.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.682902 ms (missed cycles : 6).[0m ×2 + 40.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.433391 ms (missed cycles : 4). + 40.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.433391 ms (missed cycles : 4).[0m ×2 + 41.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357831 ms (missed cycles : 3). + 41.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357831 ms (missed cycles : 3).[0m ×2 + 42.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918614 ms (missed cycles : 2). + 42.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918614 ms (missed cycles : 2).[0m ×2 + 43.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932250 ms (missed cycles : 2). + 43.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932250 ms (missed cycles : 2).[0m ×2 + 44.65sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834821 ms (missed cycles : 4). + 44.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834821 ms (missed cycles : 4).[0m ×2 + 45.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161998 ms (missed cycles : 5). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161998 ms (missed cycles : 5).[0m ×2 + 46.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419630 ms (missed cycles : 2). + 46.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419630 ms (missed cycles : 2).[0m ×2 + 47.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066092 ms (missed cycles : 5). + 47.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066092 ms (missed cycles : 5).[0m ×2 + 49.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994689 ms (missed cycles : 2). + 49.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994689 ms (missed cycles : 2).[0m ×2 + 50.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797118 ms (missed cycles : 3). + 50.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797118 ms (missed cycles : 3).[0m ×2 + 51.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411241 ms (missed cycles : 3). + 51.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411241 ms (missed cycles : 3).[0m ×2 + 52.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246220 ms (missed cycles : 2). + 52.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246220 ms (missed cycles : 2).[0m ×2 + 53.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602558 ms (missed cycles : 3). + 53.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602558 ms (missed cycles : 3).[0m ×2 + 54.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062652 ms (missed cycles : 2). + 54.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062652 ms (missed cycles : 2).[0m ×2 + 55.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012724 ms (missed cycles : 4). + 55.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012724 ms (missed cycles : 4).[0m ×2 + 56.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302595 ms (missed cycles : 4). + 56.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302595 ms (missed cycles : 4).[0m ×2 + 57.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247005 ms (missed cycles : 3). + 57.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247005 ms (missed cycles : 3).[0m ×2 + 57.90sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782675963.88520455 seconds ×3 + 58.45sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782675964.43559957 seconds. ×3 + 58.74sINFOobjective_server_nodeFound path in 0 iterations (1.12e-06 s). ×2 + 58.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287562 ms (missed cycles : 3). + 58.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287562 ms (missed cycles : 3).[0m ×2 + 59.70sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 59.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640177 ms (missed cycles : 5). + 59.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640177 ms (missed cycles : 5).[0m ×2 + 60.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.137576 ms (missed cycles : 6). + 60.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.137576 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 54.8s | 177 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.50sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782676046.92900896 seconds ×3 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782676047.48722243 seconds. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.52sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.52sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.52sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325416 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325416 ms (missed cycles : 3).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492881 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492881 ms (missed cycles : 3).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901559 ms (missed cycles : 2). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901559 ms (missed cycles : 2).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648984 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648984 ms (missed cycles : 2).[0m ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189431 ms (missed cycles : 2). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189431 ms (missed cycles : 2).[0m ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333343 ms (missed cycles : 3). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333343 ms (missed cycles : 3).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933816 ms (missed cycles : 4). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933816 ms (missed cycles : 4).[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880780 ms (missed cycles : 3). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880780 ms (missed cycles : 3).[0m ×2 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290804 ms (missed cycles : 2). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290804 ms (missed cycles : 2).[0m ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070283 ms (missed cycles : 3). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070283 ms (missed cycles : 3).[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439189 ms (missed cycles : 2). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439189 ms (missed cycles : 2).[0m ×2 + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750138 ms (missed cycles : 2). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750138 ms (missed cycles : 2).[0m ×2 + 18.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249697 ms (missed cycles : 3). + 18.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249697 ms (missed cycles : 3).[0m ×2 + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879810 ms (missed cycles : 2). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879810 ms (missed cycles : 2).[0m ×2 + 21.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779681 ms (missed cycles : 2). + 21.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779681 ms (missed cycles : 2).[0m ×2 + 22.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704448 ms (missed cycles : 2). + 22.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704448 ms (missed cycles : 2).[0m ×2 + 23.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185422 ms (missed cycles : 3). + 23.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185422 ms (missed cycles : 3).[0m ×2 + 24.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839401 ms (missed cycles : 4). + 24.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839401 ms (missed cycles : 4).[0m ×2 + 25.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338745 ms (missed cycles : 4). + 25.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338745 ms (missed cycles : 4).[0m ×2 + 26.23sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711677 ms (missed cycles : 5). + 26.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711677 ms (missed cycles : 5).[0m ×2 + 27.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726672 ms (missed cycles : 4). + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726672 ms (missed cycles : 4).[0m ×2 + 28.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715747 ms (missed cycles : 2). + 28.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715747 ms (missed cycles : 2).[0m ×2 + 29.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.015944 ms (missed cycles : 5). + 29.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.015944 ms (missed cycles : 5).[0m ×2 + 30.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719505 ms (missed cycles : 2). + 30.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719505 ms (missed cycles : 2).[0m ×2 + 31.74sWARNobjective_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 + 31.74sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 31.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.726476 ms (missed cycles : 5). + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.726476 ms (missed cycles : 5).[0m ×2 + 32.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487899 ms (missed cycles : 2). + 32.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487899 ms (missed cycles : 2).[0m ×2 + 33.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176214 ms (missed cycles : 3). + 33.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176214 ms (missed cycles : 3).[0m ×2 + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799287 ms (missed cycles : 4). + 34.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799287 ms (missed cycles : 4).[0m ×2 + 35.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246449 ms (missed cycles : 2). + 35.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246449 ms (missed cycles : 2).[0m ×2 + 36.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161246 ms (missed cycles : 2). + 36.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161246 ms (missed cycles : 2).[0m ×2 + 37.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289593 ms (missed cycles : 2). + 37.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289593 ms (missed cycles : 2).[0m ×2 + 38.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861903 ms (missed cycles : 4). + 38.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861903 ms (missed cycles : 4).[0m ×2 + 39.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790371 ms (missed cycles : 2). + 39.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790371 ms (missed cycles : 2).[0m ×2 + 41.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255341 ms (missed cycles : 4). + 41.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255341 ms (missed cycles : 4).[0m ×2 + 42.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427858 ms (missed cycles : 3). + 42.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427858 ms (missed cycles : 3).[0m ×2 + 43.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790577 ms (missed cycles : 2). + 43.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790577 ms (missed cycles : 2).[0m ×2 + 44.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621740 ms (missed cycles : 3). + 44.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621740 ms (missed cycles : 3).[0m ×2 + 45.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611261 ms (missed cycles : 2). + 45.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611261 ms (missed cycles : 2).[0m ×2 + 46.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505921 ms (missed cycles : 5). + 46.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505921 ms (missed cycles : 5).[0m ×2 + 47.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999136 ms (missed cycles : 4). + 47.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999136 ms (missed cycles : 4).[0m ×2 + 48.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440588 ms (missed cycles : 4). + 48.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440588 ms (missed cycles : 4).[0m ×2 + 49.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233538 ms (missed cycles : 2). + 49.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233538 ms (missed cycles : 2).[0m ×2 + 50.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704572 ms (missed cycles : 2). + 50.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704572 ms (missed cycles : 2).[0m ×2 + 51.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598208 ms (missed cycles : 2). + 51.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598208 ms (missed cycles : 2).[0m ×2 + 53.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485238 ms (missed cycles : 4). + 53.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485238 ms (missed cycles : 4).[0m ×2 + 54.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258534 ms (missed cycles : 3). + 54.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258534 ms (missed cycles : 3).[0m ×2 + 55.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414417 ms (missed cycles : 3). + 55.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414417 ms (missed cycles : 3).[0m ×2 + 56.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429435 ms (missed cycles : 4). + 56.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429435 ms (missed cycles : 4).[0m ×2 + 57.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782676101.69735456 seconds ×3 + 57.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583705 ms (missed cycles : 3). + 57.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583705 ms (missed cycles : 3).[0m ×2 + 57.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782676102.26019979 seconds. ×3 + 58.13sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 58.14sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 58.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302785 ms (missed cycles : 3). + 58.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302785 ms (missed cycles : 3).[0m ×2 + 59.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972844 ms (missed cycles : 3). + 59.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972844 ms (missed cycles : 3).[0m ×2 + 60.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067790 ms (missed cycles : 2). + 60.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067790 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.3s | 6 errors · 144 warnings · 154 info |
+ 0.00sINFOros2-17process has finished cleanly [pid 10272] ×2 + 0.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 0.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.26sINFOmove_groupClearing octomap...[0m ×2 + 0.26sINFOmove_groupOctomap cleared.[0m ×2 + 0.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 0.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 1.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 1.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 2.10sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 2.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.10sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.10sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.11sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.13sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.14sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 2.14sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 2.68sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 3.26sERRORobjective_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 + 3.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 4.38sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.95sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 + 5.17sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.17sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.17sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767900 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767900 ms (missed cycles : 2).[0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686944 ms (missed cycles : 3). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686944 ms (missed cycles : 3).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151222 ms (missed cycles : 2). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151222 ms (missed cycles : 2).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696534 ms (missed cycles : 3). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696534 ms (missed cycles : 3).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928806 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928806 ms (missed cycles : 2).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483500 ms (missed cycles : 3). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483500 ms (missed cycles : 3).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902978 ms (missed cycles : 3). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902978 ms (missed cycles : 3).[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813515 ms (missed cycles : 4). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813515 ms (missed cycles : 4).[0m ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.871903 ms (missed cycles : 5). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.871903 ms (missed cycles : 5).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807175 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807175 ms (missed cycles : 2).[0m ×2 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981243 ms (missed cycles : 3). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981243 ms (missed cycles : 3).[0m ×2 + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007062 ms (missed cycles : 2). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007062 ms (missed cycles : 2).[0m ×2 + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836476 ms (missed cycles : 5). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836476 ms (missed cycles : 5).[0m ×2 + 19.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175635 ms (missed cycles : 3). + 19.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175635 ms (missed cycles : 3).[0m ×2 + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821461 ms (missed cycles : 4). + 20.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821461 ms (missed cycles : 4).[0m ×2 + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172871 ms (missed cycles : 2). + 22.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172871 ms (missed cycles : 2).[0m ×2 + 23.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039786 ms (missed cycles : 5). + 23.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039786 ms (missed cycles : 5).[0m ×2 + 24.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478333 ms (missed cycles : 4). + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478333 ms (missed cycles : 4).[0m ×2 + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798127 ms (missed cycles : 3). + 25.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798127 ms (missed cycles : 3).[0m ×2 + 26.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657971 ms (missed cycles : 3). + 26.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657971 ms (missed cycles : 3).[0m ×2 + 27.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133911 ms (missed cycles : 2). + 27.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133911 ms (missed cycles : 2).[0m ×2 + 28.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307956 ms (missed cycles : 5). + 28.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307956 ms (missed cycles : 5).[0m ×2 + 29.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624227 ms (missed cycles : 4). + 29.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624227 ms (missed cycles : 4).[0m ×2 + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410643 ms (missed cycles : 2). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410643 ms (missed cycles : 2).[0m ×2 + 31.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085952 ms (missed cycles : 5). + 31.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085952 ms (missed cycles : 5).[0m ×2 + 32.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367025 ms (missed cycles : 4). + 32.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367025 ms (missed cycles : 4).[0m ×2 + 33.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.017152 ms (missed cycles : 5). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.017152 ms (missed cycles : 5).[0m ×2 + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.529717 ms (missed cycles : 5). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.529717 ms (missed cycles : 5).[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189740 ms (missed cycles : 2). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189740 ms (missed cycles : 2).[0m ×2 + 36.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.225462 ms (missed cycles : 4). + 36.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.225462 ms (missed cycles : 4).[0m ×2 + 38.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180324 ms (missed cycles : 2). + 38.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180324 ms (missed cycles : 2).[0m ×2 + 39.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158352 ms (missed cycles : 3). + 39.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158352 ms (missed cycles : 3).[0m ×2 + 40.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571986 ms (missed cycles : 3). + 40.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571986 ms (missed cycles : 3).[0m ×2 + 41.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208485 ms (missed cycles : 3). + 41.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208485 ms (missed cycles : 3).[0m ×2 + 42.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770543 ms (missed cycles : 4). + 42.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770543 ms (missed cycles : 4).[0m ×2 + 43.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701513 ms (missed cycles : 5). + 43.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701513 ms (missed cycles : 5).[0m ×2 + 44.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970042 ms (missed cycles : 2). + 44.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970042 ms (missed cycles : 2).[0m ×2 + 45.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179544 ms (missed cycles : 3). + 45.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179544 ms (missed cycles : 3).[0m ×2 + 46.59sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 46.59sINFOros2_control_nodeGoal reached, success![0m ×4 + 46.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782675812.86590791 seconds ×3 + 46.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569232 ms (missed cycles : 3). + 46.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569232 ms (missed cycles : 3).[0m ×2 + 47.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782675813.40733123 seconds. ×3 + 47.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708225 ms (missed cycles : 3). + 47.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708225 ms (missed cycles : 3).[0m ×2 + 47.98sINFOobjective_server_nodeFound path in 0 iterations (2.0831e-05 s). ×2 + 47.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 47.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524631 ms (missed cycles : 5). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524631 ms (missed cycles : 5).[0m ×2 + 50.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770171 ms (missed cycles : 3). + 50.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770171 ms (missed cycles : 3).[0m ×2 + 50.11sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782675816.33745742 seconds ×3 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.3s | 105 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817756 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817756 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202328 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202328 ms (missed cycles : 3).[0m ×2 + 2.05sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.05sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.06sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782675877.19786716 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505835 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505835 ms (missed cycles : 3).[0m ×2 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192339 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192339 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782675878.74456406 seconds. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.429287 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.429287 ms (missed cycles : 5).[0m ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.98sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976837 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976837 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071410 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071410 ms (missed cycles : 4).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158109 ms (missed cycles : 4). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158109 ms (missed cycles : 4).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319200 ms (missed cycles : 6). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319200 ms (missed cycles : 6).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444779 ms (missed cycles : 4). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444779 ms (missed cycles : 4).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499841 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499841 ms (missed cycles : 3).[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186580 ms (missed cycles : 4). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186580 ms (missed cycles : 4).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604181 ms (missed cycles : 5). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604181 ms (missed cycles : 5).[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269024 ms (missed cycles : 3). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269024 ms (missed cycles : 3).[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.799080 ms (missed cycles : 5). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.799080 ms (missed cycles : 5).[0m ×2 + 15.49sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745654 ms (missed cycles : 6). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745654 ms (missed cycles : 6).[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209146 ms (missed cycles : 3). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209146 ms (missed cycles : 3).[0m ×2 + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957125 ms (missed cycles : 2). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957125 ms (missed cycles : 2).[0m ×2 + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067970 ms (missed cycles : 2). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067970 ms (missed cycles : 2).[0m ×2 + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298918 ms (missed cycles : 5). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298918 ms (missed cycles : 5).[0m ×2 + 21.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.021658 ms (missed cycles : 4). + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.021658 ms (missed cycles : 4).[0m ×2 + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567683 ms (missed cycles : 3). + 22.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567683 ms (missed cycles : 3).[0m ×2 + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772296 ms (missed cycles : 4). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772296 ms (missed cycles : 4).[0m ×2 + 24.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979934 ms (missed cycles : 5). + 24.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979934 ms (missed cycles : 5).[0m ×2 + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767414 ms (missed cycles : 3). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767414 ms (missed cycles : 3).[0m ×2 + 26.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784605 ms (missed cycles : 4). + 26.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784605 ms (missed cycles : 4).[0m ×2 + 27.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791851 ms (missed cycles : 2). + 27.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791851 ms (missed cycles : 2).[0m ×2 + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141722 ms (missed cycles : 3). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141722 ms (missed cycles : 3).[0m ×2 + 29.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050673 ms (missed cycles : 3). + 29.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050673 ms (missed cycles : 3).[0m ×2 + 30.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032094 ms (missed cycles : 4). + 30.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032094 ms (missed cycles : 4).[0m ×2 + 31.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327055 ms (missed cycles : 2). + 31.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327055 ms (missed cycles : 2).[0m ×2 + 32.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575439 ms (missed cycles : 5). + 32.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575439 ms (missed cycles : 5).[0m ×2 + 33.38sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782675908.52469468 seconds ×3 + 33.93sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782675909.07506323 seconds. ×3 + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431758 ms (missed cycles : 2). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431758 ms (missed cycles : 2).[0m ×2 + 34.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 35.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527546 ms (missed cycles : 2). + 35.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527546 ms (missed cycles : 2).[0m ×2 + 35.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257244 ms (missed cycles : 2). + 36.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257244 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.5s | 54 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258534 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258534 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414417 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414417 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429435 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429435 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.17sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782676101.69735456 seconds ×3 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583705 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583705 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782676102.26019979 seconds. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.6e-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 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302785 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302785 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972844 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972844 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067790 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067790 ms (missed cycles : 2).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834096 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834096 ms (missed cycles : 2).[0m ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.32sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.37sINFOobjective_server_nodeFound path in 0 iterations (8.1e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.45sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600398 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600398 ms (missed cycles : 3).[0m ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 8.83sINFOobjective_server_nodeFound path in 69 iterations (0.0395439 s). ×2 + 8.97sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.02sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 9.31sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.35sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 9.61sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.64sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802345 ms (missed cycles : 2). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802345 ms (missed cycles : 2).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917526 ms (missed cycles : 4). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917526 ms (missed cycles : 4).[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526930 ms (missed cycles : 3). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526930 ms (missed cycles : 3).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.305790 ms (missed cycles : 5). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.305790 ms (missed cycles : 5).[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209328 ms (missed cycles : 3). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209328 ms (missed cycles : 3).[0m ×2 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719386 ms (missed cycles : 4). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719386 ms (missed cycles : 4).[0m ×2 + 15.64sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782676114.16169953 seconds ×3 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049622 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049622 ms (missed cycles : 2).[0m ×2 + 16.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782676114.73069263 seconds. ×3 + 16.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.21sINFOmove_groupClearing octomap...[0m ×2 + 16.21sINFOmove_groupOctomap cleared.[0m ×2 + 16.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782676115.15082383 seconds ×3 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242180 ms (missed cycles : 3). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242180 ms (missed cycles : 3).[0m ×2 + 17.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782676115.69103980 seconds. ×3 + 17.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782676116.07472754 seconds ×3 + 17.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299080 ms (missed cycles : 4). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299080 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 3 errors · 51 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062652 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062652 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012724 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012724 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302595 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302595 ms (missed cycles : 4).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247005 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247005 ms (missed cycles : 3).[0m ×2 + 3.42sINFOjoint_trajectory_controllerGoal reached, success! + 3.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.48sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782675963.88520455 seconds ×3 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.03sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782675964.43559957 seconds. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (1.12e-06 s). ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287562 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287562 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640177 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640177 ms (missed cycles : 5).[0m ×2 + 5.50sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.50sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.50sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.137576 ms (missed cycles : 6). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.137576 ms (missed cycles : 6).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495398 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495398 ms (missed cycles : 2).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681439 ms (missed cycles : 4). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681439 ms (missed cycles : 4).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.940148 ms (missed cycles : 8). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.940148 ms (missed cycles : 8).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275973 ms (missed cycles : 2). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275973 ms (missed cycles : 2).[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391395 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391395 ms (missed cycles : 2).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983088 ms (missed cycles : 3). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983088 ms (missed cycles : 3).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.931387 ms (missed cycles : 8). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.931387 ms (missed cycles : 8).[0m ×2 + 14.34sINFOjoint_trajectory_controllerGot request to cancel goal + 14.34sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.34sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.34sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782675974.76554036 seconds ×3 + 14.90sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782675975.30885124 seconds. ×3 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098087 ms (missed cycles : 2). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098087 ms (missed cycles : 2).[0m ×2 + 15.19sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 16.12sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418101 ms (missed cycles : 2). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418101 ms (missed cycles : 2).[0m ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720141 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720141 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.9s | 72 errors · 30 warnings · 352 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209328 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209328 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719386 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719386 ms (missed cycles : 4).[0m ×2 + 1.74sINFOjoint_trajectory_controllerGoal reached, success! + 1.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.78sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782676114.16169953 seconds ×3 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049622 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049622 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782676114.73069263 seconds. ×3 + 2.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.35sINFOmove_groupClearing octomap...[0m ×2 + 2.35sINFOmove_groupOctomap cleared.[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782676115.15082383 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242180 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242180 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782676115.69103980 seconds. ×3 + 3.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782676116.07472754 seconds ×3 + 3.93sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299080 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299080 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317714 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317714 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.483883 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.483883 ms (missed cycles : 5).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190060 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190060 ms (missed cycles : 2).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018145 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018145 ms (missed cycles : 2).[0m ×2 + 9.57sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.58sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.58sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.58sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.59sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.59sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.59sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.59sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 9.61sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.61sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.61sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 9.63sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.64sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.64sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.64sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.65sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.65sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.65sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.66sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.66sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 9.67sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 9.68sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 9.70sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906659 ms (missed cycles : 2). + 9.72sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 9.73sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.73sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 9.75sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 9.77sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 9.78sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 9.79sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.80sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 9.82sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 9.82sINFOcontroller_managerShutdown request received.... + 9.83sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.83sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 9.83sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 9.83sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 9.83sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.83sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.83sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.83sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 9.83sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 9.83sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 9.83sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 9.83sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.83sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.83sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 9.83sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 9.83sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.83sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.83sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 9.83sINFOcontroller_managerShutting down the controller manager. + 9.84sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 9.86sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 9.86sINFOweb_video_server-31process has finished cleanly [pid 10345] ×2 + 9.86sERRORmove_group-20process has died [pid 10275, 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_5pvjku_2 --params-file /tmp/launch_params_ekji2e2e --params-file /tmp/launch_params_z_oe4p42 --params-file /tmp/launch_params_700ots7s --params-file /tmp/launch_params_5evk3wln --params-file /tmp/launch_params_zbqceida --params-file /tmp/launch_params_yq3nfhfu --params-file /tmp/launch_params_n3y2doir --params-file /tmp/launch_params_i179yt0f']. ×2 + 9.87sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 9.88sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 9.90sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 9.91sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 9.91sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.91sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 9.91sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 9.91sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 9.91sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 9.91sINFOui_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 + 9.91sINFOui_teleop_bridgerclpy.shutdown() ×2 + 9.91sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 9.91sINFOui_teleop_bridge_shutdown(context=context) ×2 + 9.91sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 9.91sINFOui_teleop_bridgecontext.shutdown() ×2 + 9.91sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 9.91sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 9.91sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906659 ms (missed cycles : 2).[0m ×2 + 9.91sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.91sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.91sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.92sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.92sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 9.92sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.92sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.92sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.92sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.92sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.92sERRORmove_groupStack trace (most recent call last) in thread 10823: ×2 + 9.92sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.92sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0dac17ea63, in __clone ×2 + 9.92sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0dac0f1aa3, in ×2 + 9.92sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0dac383db3, in ×2 + 9.92sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f0dac9d81c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.92sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0dac6f64d0, in rclcpp::Rate::sleep() ×2 + 9.92sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0dac649a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.92sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0dac60ea71, in ×2 + 9.92sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0dac352390, in __cxa_throw ×2 + 9.92sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0dac33ca54, in std::terminate() ×2 + 9.92sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0dac3520d9, in ×2 + 9.92sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0dac33cff4, in ×2 + 9.92sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0dac07d8fe, in abort ×2 + 9.92sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0dac09a27d, in raise ×2 + 9.92sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0dac0f3b2c, in pthread_kill ×2 + 9.92sERRORmove_groupAborted (Signal sent by tkill() 10275 0) ×2 + 9.92sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.92sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.92sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.92sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 9.92sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 9.92sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 9.92sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.92sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.92sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.92sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 9.92sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 9.92sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 9.92sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.92sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.92sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.92sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 9.92sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 9.92sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.92sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.92sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 9.92sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.92sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.92sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.92sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.92sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.92sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 9.92sINFOobjective_server_node[2026-06-28 19:48:42.218] [moveit_pro_license] [info] ×2 + 9.92sINFOobjective_server_node************************************************* ×4 + 9.92sINFOobjective_server_node* MoveIt Pro License ×2 + 9.92sINFOobjective_server_node* Application has successfully terminated ×2 + 9.92sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 9.93sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 9.93sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 9.93sINFOodom_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 + 9.93sINFOodom_qos_relay.pymain() ×2 + 9.93sINFOodom_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 + 9.93sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 9.93sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 9.93sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 9.93sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 9.93sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 9.93sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 9.93sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 9.93sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 9.93sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 9.93sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 9.93sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 9.93sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 9.93sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 9.93sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 9.93sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.93sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ff3cf4c6a4, in _start ×2 + 9.93sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7a8350b28a, in __libc_start_main ×2 + 9.93sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7a8350b1d0, in ×2 + 9.93sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7a83528bbd, in exit ×2 + 9.93sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7a83528a75, in ×2 + 9.93sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f7a839fa4a2, in spdlog::details::registry::~registry() ×2 + 9.93sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f7a83a0569d, 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 + 9.93sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f7a839ff965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 9.93sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ff3cf53315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 9.93sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ff3cf525a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 9.93sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ff3cf4eb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 9.93sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ff3cf4cd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 9.93sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7a840a1454, in rclcpp::Node::~Node() ×2 + 9.93sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7a8405c515, in ×2 + 9.93sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7a8409fd20, in ×2 + 9.93sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7a8409fc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 9.93sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7a8405c5d9, in ×2 + 9.93sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7a84061161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 9.93sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f7a39ff5120]) ×2 + 9.93sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 9.95sERRORobjective_server_node_main-25process has died [pid 10337, 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_jolcdppo --params-file /tmp/launch_params_zbqd7d27 --params-file /tmp/launch_params_q2toto36 --params-file /tmp/launch_params_3khkh66y --params-file /tmp/launch_params_vmg_1dnz --params-file /tmp/launch_params_lyk6huku --params-file /tmp/launch_params_x1pwczib --params-file /tmp/launch_params_zojdv3dg --params-file /tmp/launch_params_qnjjspb6']. ×2 + 9.95sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 9.95sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.04sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.04sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.04sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.68sINFOtf2_web_republisher_node-30process has finished cleanly [pid 10344] ×2 + 10.68sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 10.78sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 10336] ×2 + 10.79sINFOexecute_objective_bridge-27process has finished cleanly [pid 10341] ×2 + 10.79sERRORui_teleop_bridge-28process has died [pid 10342, 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_qayffnwl']. ×2 + 10.80sINFOmove_joint_resampler_node-23process has finished cleanly [pid 10278] ×2 + 10.83sINFOparameter_manager_node-21process has finished cleanly [pid 10276] ×2 + 10.86sINFOwaypoint_manager_node-22process has finished cleanly [pid 10277] ×2 + 10.88sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 10185] ×2 + 10.89sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10184] ×2 + 10.92sINFOstatic_transform_publisher-4process has finished cleanly [pid 10182] ×2 + 10.93sINFOstatic_transform_publisher-3process has finished cleanly [pid 10181] ×2 + 10.94sINFOstatic_transform_publisher-2process has finished cleanly [pid 10180] ×2 + 10.95sERRORodom_qos_relay.py-5process has died [pid 10183, 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 + 10.96sINFOcomponent_container_mt-26process has finished cleanly [pid 10338] ×2 + 12.55sINFOweb_bridge-29process has finished cleanly [pid 10343] ×2 + 12.55sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 12.57sINFOros2_control_node-8process has finished cleanly [pid 10186] ×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 2.251193 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251193 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575970 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575970 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558911 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558911 ms (missed cycles : 2).[0m ×2 + 3.02sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.03sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.08sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782675872.66914892 seconds ×3 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009306 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009306 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782675873.22772932 seconds. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 3.94sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.95sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.95sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515202 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515202 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817756 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817756 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202328 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202328 ms (missed cycles : 3).[0m ×2 + 7.61sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782675877.19786716 seconds ×3 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505835 ms (missed cycles : 3). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505835 ms (missed cycles : 3).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192339 ms (missed cycles : 3). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192339 ms (missed cycles : 3).[0m ×2 + 9.16sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782675878.74456406 seconds. ×3 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.429287 ms (missed cycles : 5). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.429287 ms (missed cycles : 5).[0m ×2 + 10.49sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976837 ms (missed cycles : 4). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976837 ms (missed cycles : 4).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071410 ms (missed cycles : 4). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071410 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 6.701513 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701513 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970042 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970042 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179544 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179544 ms (missed cycles : 3).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.89sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782675812.86590791 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569232 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569232 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782675813.40733123 seconds. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708225 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708225 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.0831e-05 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.30sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.30sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.30sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524631 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524631 ms (missed cycles : 5).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770171 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770171 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782675816.33745742 seconds ×3 + 6.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782675816.87901616 seconds. ×3 + 7.24sINFOobjective_server_nodeFound path in 0 iterations (8.9e-07 s). ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509488 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509488 ms (missed cycles : 3).[0m ×2 + 8.35sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107994 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107994 ms (missed cycles : 2).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943703 ms (missed cycles : 3). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943703 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.0s | 21 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.305790 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.305790 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209328 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209328 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719386 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719386 ms (missed cycles : 4).[0m ×2 + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782676114.16169953 seconds ×3 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049622 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049622 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782676114.73069263 seconds. ×3 + 3.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.44sINFOmove_groupClearing octomap...[0m ×2 + 3.44sINFOmove_groupOctomap cleared.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782676115.15082383 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242180 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242180 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782676115.69103980 seconds. ×3 + 4.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782676116.07472754 seconds ×3 + 5.02sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299080 ms (missed cycles : 4). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299080 ms (missed cycles : 4).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317714 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317714 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 6 errors · 105 warnings · 292 info |
+ 0.00sINFOcomponent_container_mtLoaded robot model in 2.08151 seconds[0m ×2 + 0.00sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 0.00sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.11sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.11sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.11sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.11sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.17sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.17sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.18sINFOplatform_velocity_controllerconfigure successful + 0.18sINFOros2_control_nodeconfigure successful[0m ×2 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.18sINFOros2-14process has finished cleanly [pid 10269] ×2 + 0.19sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.19sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.30sWARNplanning_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. + 0.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.30sWARNplanning_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. + 0.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.50sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.50sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.50sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.50sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.50sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.53sINFOros2-12process has finished cleanly [pid 10267] ×2 + 0.56sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.56sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3).[0m ×2 + 0.67sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 0.67sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 0.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.68sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 0.81sINFOros2_control_node[2026-06-28 19:42:44.048] [info] Controller state will be published at 20 Hz. ×2 + 0.81sINFOros2_control_node[2026-06-28 19:42:44.050] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 1.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 1.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 1.02sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 1.02sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 1.02sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 1.02sINFOstreaming_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) + 1.02sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 1.02sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 1.17sINFOros2-19process has finished cleanly [pid 10274] ×2 + 1.19sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.19sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.44sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.44sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.51sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.51sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.52sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.52sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.52sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.52sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.52sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.52sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.52sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.52sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.52sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.53sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.53sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 1.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.89sINFOros2-15process has finished cleanly [pid 10270] ×2 + 1.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.94sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.94sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.95sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.95sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 2.30sINFOros2-13process has finished cleanly [pid 10268] ×2 + 2.31sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.31sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.32sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.32sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 2.32sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 2.37sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 2.37sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.37sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.99sINFOros2-17process has finished cleanly [pid 10272] ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.25sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 5.10sINFOobjective_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 + 5.10sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.10sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.10sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 5.67sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 6.25sERRORobjective_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 + 6.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 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 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782675812.86590791 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569232 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569232 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782675813.40733123 seconds. ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708225 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708225 ms (missed cycles : 3).[0m ×2 + 1.39sINFOobjective_server_nodeFound path in 0 iterations (2.0831e-05 s). ×2 + 1.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.41sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.41sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.42sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524631 ms (missed cycles : 5). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524631 ms (missed cycles : 5).[0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770171 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770171 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782675816.33745742 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782675816.87901616 seconds. ×3 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (8.9e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509488 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509488 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107994 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107994 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943703 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943703 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701513 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701513 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970042 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970042 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179544 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179544 ms (missed cycles : 3).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.89sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782675812.86590791 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569232 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569232 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782675813.40733123 seconds. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708225 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708225 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.0831e-05 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOjoint_trajectory_controllerReceived new action goal + 4.30sINFOjoint_trajectory_controllerAccepted new action goal + 4.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524631 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524631 ms (missed cycles : 5).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770171 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770171 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782675816.33745742 seconds ×3 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701513 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701513 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970042 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970042 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179544 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179544 ms (missed cycles : 3).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.89sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782675812.86590791 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569232 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569232 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782675813.40733123 seconds. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708225 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708225 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.0831e-05 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOjoint_trajectory_controllerReceived new action goal + 4.30sINFOjoint_trajectory_controllerAccepted new action goal + 4.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524631 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524631 ms (missed cycles : 5).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770171 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770171 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782675816.33745742 seconds ×3 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251193 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251193 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575970 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575970 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558911 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558911 ms (missed cycles : 2).[0m ×2 + 3.02sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782675872.66914892 seconds ×3 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009306 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009306 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782675873.22772932 seconds. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.95sINFOjoint_trajectory_controllerReceived new action goal + 3.95sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515202 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515202 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817756 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817756 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251193 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251193 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575970 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575970 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558911 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558911 ms (missed cycles : 2).[0m ×2 + 3.02sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782675872.66914892 seconds ×3 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009306 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009306 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782675873.22772932 seconds. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.95sINFOjoint_trajectory_controllerReceived new action goal + 3.95sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515202 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515202 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817756 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817756 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251193 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251193 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575970 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575970 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558911 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558911 ms (missed cycles : 2).[0m ×2 + 3.02sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782675872.66914892 seconds ×3 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009306 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009306 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782675873.22772932 seconds. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.95sINFOjoint_trajectory_controllerReceived new action goal + 3.95sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515202 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515202 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817756 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817756 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251193 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251193 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575970 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575970 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558911 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558911 ms (missed cycles : 2).[0m ×2 + 3.02sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782675872.66914892 seconds ×3 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009306 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009306 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782675873.22772932 seconds. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.95sINFOjoint_trajectory_controllerReceived new action goal + 3.95sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515202 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515202 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817756 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817756 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251193 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251193 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575970 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575970 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558911 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558911 ms (missed cycles : 2).[0m ×2 + 3.02sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782675872.66914892 seconds ×3 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009306 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009306 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782675873.22772932 seconds. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.95sINFOjoint_trajectory_controllerReceived new action goal + 3.95sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515202 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515202 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817756 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817756 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032094 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032094 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327055 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327055 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575439 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575439 ms (missed cycles : 5).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.54sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782675908.52469468 seconds ×3 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782675909.07506323 seconds. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431758 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431758 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527546 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527546 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.32sINFOjoint_trajectory_controllerReceived new action goal + 4.32sINFOjoint_trajectory_controllerAccepted new action goal + 4.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257244 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257244 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032094 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032094 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327055 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327055 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575439 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575439 ms (missed cycles : 5).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.54sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782675908.52469468 seconds ×3 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782675909.07506323 seconds. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431758 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431758 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527546 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527546 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.32sINFOjoint_trajectory_controllerReceived new action goal + 4.32sINFOjoint_trajectory_controllerAccepted new action goal + 4.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257244 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257244 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032094 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032094 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327055 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327055 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575439 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575439 ms (missed cycles : 5).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.54sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782675908.52469468 seconds ×3 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782675909.07506323 seconds. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431758 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431758 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527546 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527546 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.32sINFOjoint_trajectory_controllerReceived new action goal + 4.32sINFOjoint_trajectory_controllerAccepted new action goal + 4.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257244 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257244 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 6 errors · 105 warnings · 292 info |
+ 0.00sINFOcomponent_container_mtLoaded robot model in 2.08151 seconds[0m ×2 + 0.00sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 0.00sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.11sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.11sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.11sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.11sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.17sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.17sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.18sINFOplatform_velocity_controllerconfigure successful + 0.18sINFOros2_control_nodeconfigure successful[0m ×2 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.18sINFOros2-14process has finished cleanly [pid 10269] ×2 + 0.19sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.19sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.30sWARNplanning_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. + 0.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.30sWARNplanning_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. + 0.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.50sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.50sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.50sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.50sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.50sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.53sINFOros2-12process has finished cleanly [pid 10267] ×2 + 0.56sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.56sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3).[0m ×2 + 0.67sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 0.67sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 0.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.68sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 0.81sINFOros2_control_node[2026-06-28 19:42:44.048] [info] Controller state will be published at 20 Hz. ×2 + 0.81sINFOros2_control_node[2026-06-28 19:42:44.050] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 1.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 1.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 1.02sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 1.02sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 1.02sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 1.02sINFOstreaming_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) + 1.02sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 1.02sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 1.17sINFOros2-19process has finished cleanly [pid 10274] ×2 + 1.19sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.19sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.44sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.44sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.51sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.51sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.52sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.52sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.52sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.52sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.52sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.52sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.52sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.52sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.52sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.53sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.53sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 1.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.89sINFOros2-15process has finished cleanly [pid 10270] ×2 + 1.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.94sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.94sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.95sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.95sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 2.30sINFOros2-13process has finished cleanly [pid 10268] ×2 + 2.31sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.31sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.32sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.32sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 2.32sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 2.37sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 2.37sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.37sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.99sINFOros2-17process has finished cleanly [pid 10272] ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.25sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 5.10sINFOobjective_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 + 5.10sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.10sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.10sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 5.67sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 6.25sERRORobjective_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 + 6.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782676046.92900896 seconds ×3 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782676047.48722243 seconds. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.52sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782676046.92900896 seconds ×3 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782676047.48722243 seconds. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.52sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 6 errors · 105 warnings · 292 info |
+ 0.00sINFOcomponent_container_mtLoaded robot model in 2.08151 seconds[0m ×2 + 0.00sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 0.00sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.11sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.11sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.11sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.11sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.17sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.17sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.18sINFOplatform_velocity_controllerconfigure successful + 0.18sINFOros2_control_nodeconfigure successful[0m ×2 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.18sINFOros2-14process has finished cleanly [pid 10269] ×2 + 0.19sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.19sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.30sWARNplanning_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. + 0.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.30sWARNplanning_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. + 0.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.50sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.50sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.50sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.50sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.50sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.53sINFOros2-12process has finished cleanly [pid 10267] ×2 + 0.56sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.56sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3).[0m ×2 + 0.67sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 0.67sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 0.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.68sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 0.81sINFOros2_control_node[2026-06-28 19:42:44.048] [info] Controller state will be published at 20 Hz. ×2 + 0.81sINFOros2_control_node[2026-06-28 19:42:44.050] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 1.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 1.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 1.02sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 1.02sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 1.02sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 1.02sINFOstreaming_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) + 1.02sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 1.02sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 1.17sINFOros2-19process has finished cleanly [pid 10274] ×2 + 1.19sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.19sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.44sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.44sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.51sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.51sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.52sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.52sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.52sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.52sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.52sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.52sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.52sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.52sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.52sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.53sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.53sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 1.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.89sINFOros2-15process has finished cleanly [pid 10270] ×2 + 1.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.94sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.94sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.95sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.95sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 2.30sINFOros2-13process has finished cleanly [pid 10268] ×2 + 2.31sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.31sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.32sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.32sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 2.32sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 2.37sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 2.37sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.37sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.99sINFOros2-17process has finished cleanly [pid 10272] ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.25sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 5.10sINFOobjective_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 + 5.10sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.10sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.10sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 5.67sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 6.25sERRORobjective_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 + 6.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782676046.92900896 seconds ×3 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782676047.48722243 seconds. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.52sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782676046.92900896 seconds ×3 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782676047.48722243 seconds. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.52sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782676046.92900896 seconds ×3 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782676047.48722243 seconds. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.52sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782676046.92900896 seconds ×3 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782676047.48722243 seconds. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.52sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782676046.92900896 seconds ×3 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782676047.48722243 seconds. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.52sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680308 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809283 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027922 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782676046.92900896 seconds ×3 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933911 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782676047.48722243 seconds. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683905 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.52sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367058 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 7.305790 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.305790 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209328 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209328 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719386 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719386 ms (missed cycles : 4).[0m ×2 + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782676114.16169953 seconds ×3 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049622 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049622 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782676114.73069263 seconds. ×3 + 3.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.44sINFOmove_groupClearing octomap...[0m ×2 + 3.44sINFOmove_groupOctomap cleared.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782676115.15082383 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242180 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242180 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782676115.69103980 seconds. ×3 + 4.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782676116.07472754 seconds ×3 + 5.02sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299080 ms (missed cycles : 4). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299080 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 19.2s | 64 errors · 734 warnings · 1764 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/2026-06-28-19-36-06-877939-e6543317de85-9092 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 8.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 8.60sINFOros2_control_node-8process started with pid [9148] + 8.60sINFOmove_group-20process started with pid [9237] + 8.60sINFOparameter_manager_node-21process started with pid [9238] + 8.60sINFOwaypoint_manager_node-22process started with pid [9239] + 8.60sINFOmove_joint_resampler_node-23process started with pid [9240] + 8.60sINFOmove_end_effector_resampler_node-24process started with pid [9282] + 8.60sINFOobjective_server_node_main-25process started with pid [9290] + 8.60sINFOcomponent_container_mt-26process started with pid [9301] + 8.60sINFOexecute_objective_bridge-27process started with pid [9302] + 8.60sINFOui_teleop_bridge-28process started with pid [9303] + 8.60sINFOweb_bridge-29process started with pid [9304] + 8.60sINFOtf2_web_republisher_node-30process started with pid [9305] + 8.60sINFOweb_video_server-31process started with pid [9306] + 8.62sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 8.62sINFOcomponent_container_isolated-1process started with pid [9141] + 8.62sINFOstatic_transform_publisher-2process started with pid [9142] + 8.62sINFOstatic_transform_publisher-3process started with pid [9143] + 8.63sINFOstatic_transform_publisher-4process started with pid [9144] + 8.63sINFOodom_qos_relay.py-5process started with pid [9145] + 8.63sINFOscan_to_scan_filter_chain-6process started with pid [9146] + 8.63sINFOscan_to_scan_filter_chain-7process started with pid [9147] + 8.63sINFOros2-9process started with pid [9226] + 8.63sINFOros2-10process started with pid [9227] + 8.63sINFOros2-11process started with pid [9228] + 8.63sINFOros2-12process started with pid [9229] + 8.63sINFOros2-13process started with pid [9230] + 8.63sINFOros2-14process started with pid [9231] + 8.63sINFOros2-15process started with pid [9232] + 8.63sINFOros2-16process started with pid [9233] + 8.63sINFOros2-17process started with pid [9234] + 8.63sINFOros2-18process started with pid [9235] + 8.63sINFOros2-19process started with pid [9236] + 8.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 8.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 8.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 8.71sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×9 + 8.71sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×9 + 8.71sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×9 + 8.71sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×9 + 8.71sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 8.71sINFOstatic_transform_publisherfrom 'mj_world' to 'world'[0m ×3 + 8.71sINFOstatic_transform_publisherfrom 'map' to 'odom'[0m ×3 + 8.71sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 8.71sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 8.71sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 8.71sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 8.71sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 8.71sWARNros2_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 + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.577919 ms (missed cycles : 6).[0m + 8.79sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 8.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 8.83sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 8.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 8.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 8.85sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 8.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 8.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 8.95sINFOcomponent_container_mtRobot initialized[0m ×3 + 8.96sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 8.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 8.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 8.97sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 8.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 9.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 9.01sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 9.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 9.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 9.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 9.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 9.22sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 9.23sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 9.23sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 9.23sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 9.23sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 9.23sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 9.23sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 9.23sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 9.23sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×3 + 9.37sINFOmove_groupLoaded robot model in 0.363317 seconds[0m + 9.37sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 9.38sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.39sWARNscan_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 + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.559248 ms (missed cycles : 6).[0m + 9.72sINFOwaypoint_manager_nodeLoaded robot model in 0.391466 seconds[0m + 9.72sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 9.72sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.75sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 9.75sWARNmove_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 + 9.75sWARNmove_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 + 9.75sWARNmove_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 + 9.75sWARNmove_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 + 9.76sWARNmove_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 + 9.76sWARNmove_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 + 9.76sWARNmove_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 + 9.76sWARNmove_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 + 9.76sWARNmove_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 + 9.76sWARNmove_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 + 10.11sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×10 + 10.20sWARNwaypoint_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 + 10.20sWARNwaypoint_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 + 10.20sWARNwaypoint_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 + 10.20sWARNwaypoint_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 + 10.20sWARNwaypoint_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 + 10.20sWARNwaypoint_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 + 10.20sWARNwaypoint_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 + 10.20sWARNwaypoint_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 + 10.21sWARNwaypoint_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 + 10.21sWARNwaypoint_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 + 10.21sWARNwaypoint_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 + 10.22sWARNwaypoint_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 + 10.22sWARNwaypoint_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 + 10.22sWARNwaypoint_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 + 10.22sWARNwaypoint_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 + 10.22sWARNwaypoint_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 + 10.22sWARNwaypoint_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 + 10.22sWARNwaypoint_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 + 10.22sWARNwaypoint_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 + 10.23sWARNwaypoint_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 + 10.24sWARNwaypoint_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 + 10.24sWARNwaypoint_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 + 10.24sWARNwaypoint_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 + 10.24sWARNwaypoint_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 + 10.24sWARNwaypoint_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 + 10.24sWARNwaypoint_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 + 10.24sWARNwaypoint_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 + 10.25sWARNwaypoint_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 + 10.38sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 10.38sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 10.38sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 10.38sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 10.38sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 10.38sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 10.39sINFOmove_groupStarting planning scene monitor[0m ×3 + 10.39sINFOmove_groupListening to '/planning_scene'[0m ×3 + 10.39sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 10.39sINFOmove_groupListening to 'collision_object'[0m ×3 + 10.39sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 10.40sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 10.40sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 10.62sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 10.62sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 10.63sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883178 ms (missed cycles : 2).[0m + 11.03sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 11.03sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 11.03sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 11.03sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 11.03sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 11.03sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 11.03sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 11.03sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 11.03sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 11.03sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 11.03sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 11.03sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 11.03sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 11.03sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 11.03sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 11.03sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 11.03sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 11.03sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 11.03sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 11.05sWARNros2_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 + 11.12sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 11.12sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 11.13sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_h0r8lrtw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kfgzrocz --params-file /tmp/launch_params_8shahvig [0m + 11.15sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 11.15sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 11.16sINFOros2_control_nodeconfigure successful[0m ×9 + 11.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 11.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 11.16sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 11.26sINFOobjective_server_node[2026-06-28 19:36:20.571] [moveit_pro_license] [info] + 11.26sINFOobjective_server_node************************************************* ×8 + 11.26sINFOobjective_server_node* MoveIt Pro License ×4 + 11.26sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 11.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×3 + 11.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×3 + 11.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×3 + 11.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×3 + 11.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×3 + 11.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×3 + 11.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×3 + 11.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×3 + 11.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×3 + 11.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×3 + 11.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×3 + 11.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×3 + 11.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×3 + 11.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×3 + 11.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×3 + 11.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×3 + 11.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 11.28sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 11.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 11.30sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 11.33sINFOobjective_server_nodeLoaded robot model in 0.0195135 seconds[0m + 11.33sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 11.33sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 11.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 11.45sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 11.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 11.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 11.47sWARNcomponent_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 + 11.53sINFOros2-12process has finished cleanly [pid 9229] + 11.59sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_h0r8lrtw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kfgzrocz --params-file /tmp/launch_params_8shahvig [0m + 11.61sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 11.61sWARNobjective_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 + 11.61sWARNobjective_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 + 11.61sWARNobjective_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 + 11.61sWARNobjective_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 + 11.61sWARNobjective_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 + 11.61sWARNobjective_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 + 11.61sWARNobjective_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 + 11.62sWARNobjective_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 + 11.62sWARNobjective_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 + 11.62sWARNobjective_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 + 11.66sINFOcomponent_container_mtLoaded robot model in 0.193565 seconds[0m + 11.66sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 11.66sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 11.67sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 11.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 11.68sINFOobjective_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 + 11.68sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 11.69sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 11.69sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 11.69sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 11.69sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 11.69sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 11.69sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 11.69sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 11.69sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 11.69sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 11.92sWARNcomponent_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 + 11.92sWARNcomponent_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 + 11.92sWARNcomponent_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 + 11.92sWARNcomponent_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 + 11.92sWARNcomponent_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 + 11.92sWARNcomponent_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 + 11.92sWARNcomponent_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 + 11.92sWARNcomponent_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 + 11.92sWARNcomponent_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 + 11.92sWARNcomponent_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 + 11.92sWARNcomponent_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 + 11.93sWARNcomponent_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 + 11.93sWARNcomponent_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 + 11.93sWARNcomponent_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 + 11.93sWARNcomponent_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 + 11.93sWARNcomponent_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 + 11.93sWARNcomponent_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 + 11.93sWARNcomponent_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 + 11.93sWARNcomponent_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 + 11.93sWARNcomponent_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 + 11.93sWARNcomponent_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 + 11.93sWARNcomponent_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 + 11.93sWARNcomponent_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 + 11.93sWARNcomponent_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 + 11.93sWARNcomponent_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 + 11.93sWARNcomponent_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 + 11.93sWARNcomponent_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 + 11.93sWARNcomponent_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 + 11.94sINFOros2_control_node[2026-06-28 19:36:21.250] [info] Controller state will be published at 20 Hz. + 11.94sINFOros2_control_node[2026-06-28 19:36:21.251] [info] JointVelocityController 'on_configure' succeeded. + 12.17sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 12.24sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 12.24sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 12.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 12.25sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000583 ms (missed cycles : 2).[0m + 12.28sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 12.28sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 12.28sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_h0r8lrtw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kfgzrocz --params-file /tmp/launch_params_8shahvig [0m + 12.34sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 12.34sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 12.34sINFOros2-18process has finished cleanly [pid 9235] + 12.34sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 12.35sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 12.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 12.40sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 12.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 12.42sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 12.56sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 12.56sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 12.59sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 12.59sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 12.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×3 + 12.59sINFOcomponent_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 + 12.62sWARNobjective_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 + 12.69sINFOros2-10process has finished cleanly [pid 9227] + 12.72sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×3 + 12.76sINFOmove_groupTrajectory execution is managing controllers[0m ×3 + 12.76sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 12.77sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 12.81sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 12.81sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×3 + 12.86sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 12.87sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 12.87sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 12.87sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 12.87sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 12.87sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 12.92sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×3 + 12.94sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 12.94sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 12.95sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_h0r8lrtw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kfgzrocz --params-file /tmp/launch_params_8shahvig [0m + 12.96sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 13.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 13.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 13.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 13.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 13.02sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 13.02sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 13.02sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 13.02sINFOmove_group ×12 + 13.02sINFOmove_group******************************************************** ×6 + 13.02sINFOmove_group* MoveGroup using: ×3 + 13.02sINFOmove_group* - apply_planning_scene_service ×3 + 13.02sINFOmove_group* - clear_octomap_service ×3 + 13.02sINFOmove_group* - ExecuteTaskSolution ×3 + 13.02sINFOmove_group* - get_group_urdf ×3 + 13.02sINFOmove_group* - load_geometry_from_file ×3 + 13.02sINFOmove_group* - get_planning_scene_service ×3 + 13.02sINFOmove_group* - kinematics_service ×3 + 13.02sINFOmove_group* - save_geometry_to_file ×3 + 13.02sINFOmove_group* - GetPlanningGroups ×3 + 13.02sINFOmove_group* - SetActiveControllerService ×3 + 13.02sINFOmove_group* - URDFPlanningSceneCapability ×3 + 13.02sINFOmove_group[0m ×3 + 13.02sINFOmove_group[92mYou can start planning now![0m ×3 + 13.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552840 ms (missed cycles : 3).[0m + 13.35sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 13.36sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 13.36sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 13.36sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_h0r8lrtw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kfgzrocz --params-file /tmp/launch_params_8shahvig [0m + 13.38sINFOros2-15process has finished cleanly [pid 9232] + 13.43sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 13.43sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 13.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 13.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 13.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_h0r8lrtw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kfgzrocz --params-file /tmp/launch_params_8shahvig [0m + 13.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 13.78sINFOros2-14process has finished cleanly [pid 9231] + 13.81sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 13.81sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 13.81sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 13.81sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 13.83sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 14.26sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 14.26sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 14.26sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_h0r8lrtw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kfgzrocz --params-file /tmp/launch_params_8shahvig [0m + 14.27sINFOros2-13process has finished cleanly [pid 9230] + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540789 ms (missed cycles : 5).[0m + 14.32sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 14.32sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 14.55sINFOros2_control_node[2026-06-28 19:36:23.856] [info] Controller state will be published at 20 Hz. + 14.55sINFOros2_control_node[2026-06-28 19:36:23.856] [info] JointVelocityController 'on_configure' succeeded. + 14.85sINFOros2-19process has finished cleanly [pid 9236] + 15.14sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 15.14sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 15.21sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_h0r8lrtw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kfgzrocz --params-file /tmp/launch_params_8shahvig [0m + 15.23sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 15.23sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070841 ms (missed cycles : 4).[0m + 15.47sINFOros2_control_node[2026-06-28 19:36:24.777] [warning] No force/torque sensor configured. The VFC will ignore force references. + 15.47sINFOros2_control_node[2026-06-28 19:36:24.779] [info] Controller state will be published at 10 Hz. + 15.47sINFOros2_control_node[2026-06-28 19:36:24.781] [info] VelocityForceController 'on_configure' succeeded. + 15.83sINFOros2-16process has finished cleanly [pid 9233] + 16.11sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 16.11sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 16.12sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_h0r8lrtw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kfgzrocz --params-file /tmp/launch_params_8shahvig [0m + 16.14sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 16.14sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 16.15sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 16.16sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105566 ms (missed cycles : 2).[0m + 16.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 16.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 16.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_h0r8lrtw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kfgzrocz --params-file /tmp/launch_params_8shahvig [0m + 16.50sINFOros2-9process has finished cleanly [pid 9226] + 16.55sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 16.55sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 16.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 16.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 16.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 16.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 16.57sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 16.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 16.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 16.92sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_h0r8lrtw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kfgzrocz --params-file /tmp/launch_params_8shahvig [0m + 16.92sINFOros2-11process has finished cleanly [pid 9228] + 16.97sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 16.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 17.24sINFOros2_control_node[2026-06-28 19:36:26.548] [warning] No force/torque sensor configured. The VFC will ignore force references. + 17.24sINFOros2_control_node[2026-06-28 19:36:26.550] [info] Controller state will be published at 10 Hz. + 17.24sINFOros2_control_node[2026-06-28 19:36:26.551] [info] VelocityForceController 'on_configure' succeeded. + 17.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 17.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130132 ms (missed cycles : 2).[0m + 17.57sINFOros2-17process has finished cleanly [pid 9234] + 17.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675387.17186451 seconds. + 17.87sINFOmove_groupClearing octomap...[0m ×4 + 17.87sINFOmove_groupOctomap cleared.[0m ×4 + 17.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675387.18208027 seconds + 18.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675387.73276138 seconds. + 18.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675387.75288606 seconds + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537096 ms (missed cycles : 3).[0m + 18.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675388.29088545 seconds. + 19.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675388.44155669 seconds + 19.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744602 ms (missed cycles : 2).[0m + 19.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675389.01445603 seconds. + 19.72sINFOobjective_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 + 19.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m + 19.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 19.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m + 19.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 19.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 19.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m + 19.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m + 19.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675389.06457901 seconds + 20.30sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675389.60446119 seconds. + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429029 ms (missed cycles : 6).[0m + 20.83sERRORobjective_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 + 20.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675390.13465357 seconds + 21.06sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m + 21.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675390.76712847 seconds. + 21.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×11 + 21.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m + 21.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m + 21.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m + 21.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040315 ms (missed cycles : 3).[0m + 22.50sWARNobjective_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 + 22.50sINFOobjective_server_nodePlanning for 177 path waypoints. + 22.73sINFOros2_control_nodeReceived new action goal[0m ×17 + 22.73sINFOros2_control_nodeAccepted new action goal[0m ×17 + 22.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492739 ms (missed cycles : 3).[0m + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047217 ms (missed cycles : 2).[0m + 24.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344187 ms (missed cycles : 3).[0m + 26.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941038 ms (missed cycles : 3).[0m + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248914 ms (missed cycles : 4).[0m + 28.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470205 ms (missed cycles : 4).[0m + 29.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122504 ms (missed cycles : 5).[0m + 30.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631435 ms (missed cycles : 3).[0m + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958672 ms (missed cycles : 2).[0m + 32.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204718 ms (missed cycles : 4).[0m + 33.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084979 ms (missed cycles : 3).[0m + 34.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945263 ms (missed cycles : 2).[0m + 35.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439604 ms (missed cycles : 3).[0m + 36.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820893 ms (missed cycles : 2).[0m + 37.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558722 ms (missed cycles : 5).[0m + 38.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218211 ms (missed cycles : 4).[0m + 39.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251116 ms (missed cycles : 2).[0m + 40.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714299 ms (missed cycles : 3).[0m + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444825 ms (missed cycles : 3).[0m + 43.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736120 ms (missed cycles : 3).[0m + 44.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245829 ms (missed cycles : 2).[0m + 45.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439633 ms (missed cycles : 3).[0m + 46.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082480 ms (missed cycles : 2).[0m + 47.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983035 ms (missed cycles : 5).[0m + 48.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522504 ms (missed cycles : 2).[0m + 49.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595853 ms (missed cycles : 2).[0m + 50.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911151 ms (missed cycles : 3).[0m + 51.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858697 ms (missed cycles : 2).[0m + 52.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273154 ms (missed cycles : 2).[0m + 53.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108965 ms (missed cycles : 3).[0m + 54.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179752 ms (missed cycles : 2).[0m + 55.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.262118 ms (missed cycles : 5).[0m + 56.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509179 ms (missed cycles : 3).[0m + 57.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283035 ms (missed cycles : 3).[0m + 58.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417813 ms (missed cycles : 4).[0m + 59.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442186 ms (missed cycles : 3).[0m + 60.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944463 ms (missed cycles : 3).[0m + 61.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.573983 ms (missed cycles : 4).[0m + 62.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.396841 ms (missed cycles : 6).[0m + 63.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010553 ms (missed cycles : 2).[0m + 64.30sINFOros2_control_nodeGoal reached, success![0m ×16 + 64.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782675433.64900875 seconds + 64.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782675434.19110799 seconds. + 64.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742627 ms (missed cycles : 2).[0m + 65.69sINFOobjective_server_nodeFound path in 0 iterations (2.485e-05 s). + 65.69sINFOobjective_server_nodePath shortcutter: [X____X] + 65.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 65.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613871 ms (missed cycles : 3).[0m + 66.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427561 ms (missed cycles : 2).[0m + 67.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782675437.12124658 seconds + 68.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579777 ms (missed cycles : 2).[0m + 68.35sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782675437.66202044 seconds. + 68.64sINFOobjective_server_nodeFound path in 0 iterations (6.91e-07 s). + 69.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150007 ms (missed cycles : 4).[0m + 69.80sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 70.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.459977 ms (missed cycles : 7).[0m + 71.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933398 ms (missed cycles : 5).[0m + 72.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755092 ms (missed cycles : 2).[0m + 73.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300137 ms (missed cycles : 4).[0m + 74.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558339 ms (missed cycles : 2).[0m + 75.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559533 ms (missed cycles : 3).[0m + 76.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859273 ms (missed cycles : 2).[0m + 77.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367141 ms (missed cycles : 3).[0m + 78.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524646 ms (missed cycles : 3).[0m + 79.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427872 ms (missed cycles : 5).[0m + 80.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569600 ms (missed cycles : 3).[0m + 81.07sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m + 81.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800588 ms (missed cycles : 2).[0m + 82.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531095 ms (missed cycles : 2).[0m + 83.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205177 ms (missed cycles : 2).[0m + 84.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136154 ms (missed cycles : 2).[0m + 85.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921594 ms (missed cycles : 2).[0m + 87.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265945 ms (missed cycles : 2).[0m + 88.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935125 ms (missed cycles : 3).[0m + 89.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893827 ms (missed cycles : 2).[0m + 90.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886464 ms (missed cycles : 5).[0m + 91.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378977 ms (missed cycles : 5).[0m + 92.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869872 ms (missed cycles : 2).[0m + 93.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580132 ms (missed cycles : 3).[0m + 94.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851285 ms (missed cycles : 3).[0m + 95.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825824 ms (missed cycles : 4).[0m + 96.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489305 ms (missed cycles : 2).[0m + 97.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469540 ms (missed cycles : 3).[0m + 98.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325226 ms (missed cycles : 2).[0m + 98.55sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 + 99.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223936 ms (missed cycles : 4).[0m +100.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734274 ms (missed cycles : 2).[0m +101.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713388 ms (missed cycles : 4).[0m +102.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.552725 ms (missed cycles : 4).[0m +104.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666892 ms (missed cycles : 2).[0m +105.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600185 ms (missed cycles : 2).[0m +106.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945495 ms (missed cycles : 5).[0m +107.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564174 ms (missed cycles : 2).[0m +108.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203498 ms (missed cycles : 4).[0m +109.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382844 ms (missed cycles : 3).[0m +110.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678316 ms (missed cycles : 3).[0m +111.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651061 ms (missed cycles : 3).[0m +112.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.218836 ms (missed cycles : 7).[0m +113.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724898 ms (missed cycles : 3).[0m +114.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189723 ms (missed cycles : 2).[0m +115.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829892 ms (missed cycles : 2).[0m +116.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940237 ms (missed cycles : 4).[0m +118.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603026 ms (missed cycles : 3).[0m +119.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882536 ms (missed cycles : 5).[0m +120.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233398 ms (missed cycles : 4).[0m +121.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921563 ms (missed cycles : 2).[0m +122.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655546 ms (missed cycles : 4).[0m +123.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681601 ms (missed cycles : 2).[0m +124.14sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782675493.45216274 seconds +124.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508015 ms (missed cycles : 3).[0m +124.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782675494.00735044 seconds. +125.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 +125.02sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +125.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303446 ms (missed cycles : 2).[0m +126.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777208 ms (missed cycles : 5).[0m +127.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757755 ms (missed cycles : 3).[0m +128.68sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782675497.98753667 seconds +128.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578718 ms (missed cycles : 3).[0m +129.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023674 ms (missed cycles : 2).[0m +130.23sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782675499.53475428 seconds. +130.50sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). +130.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993612 ms (missed cycles : 2).[0m +131.62sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +131.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162397 ms (missed cycles : 2).[0m +132.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925682 ms (missed cycles : 3).[0m +134.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631355 ms (missed cycles : 3).[0m +135.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898764 ms (missed cycles : 5).[0m +136.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885091 ms (missed cycles : 2).[0m +137.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771742 ms (missed cycles : 2).[0m +138.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545127 ms (missed cycles : 3).[0m +139.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354669 ms (missed cycles : 3).[0m +140.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541635 ms (missed cycles : 3).[0m +141.07sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m +141.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965419 ms (missed cycles : 3).[0m +142.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119001 ms (missed cycles : 4).[0m +143.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968898 ms (missed cycles : 2).[0m +144.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946759 ms (missed cycles : 4).[0m +145.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942921 ms (missed cycles : 2).[0m +146.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611377 ms (missed cycles : 3).[0m +147.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.719976 ms (missed cycles : 5).[0m +148.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487589 ms (missed cycles : 5).[0m +149.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.982040 ms (missed cycles : 6).[0m +150.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458410 ms (missed cycles : 4).[0m +152.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769843 ms (missed cycles : 4).[0m +153.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601362 ms (missed cycles : 3).[0m +154.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158686 ms (missed cycles : 4).[0m +155.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349807 ms (missed cycles : 4).[0m +156.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943096 ms (missed cycles : 3).[0m +157.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630985 ms (missed cycles : 3).[0m +158.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.921140 ms (missed cycles : 5).[0m +159.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326391 ms (missed cycles : 4).[0m +160.06sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782675529.36488175 seconds +160.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998873 ms (missed cycles : 5).[0m +160.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782675529.91533756 seconds. +160.89sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). +161.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310061 ms (missed cycles : 4).[0m +161.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +162.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410279 ms (missed cycles : 4).[0m +163.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922919 ms (missed cycles : 2).[0m +164.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666753 ms (missed cycles : 2).[0m +165.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467957 ms (missed cycles : 3).[0m +166.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101046 ms (missed cycles : 5).[0m +167.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451264 ms (missed cycles : 2).[0m +169.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954457 ms (missed cycles : 2).[0m +170.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697714 ms (missed cycles : 5).[0m +171.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792935 ms (missed cycles : 4).[0m +172.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150774 ms (missed cycles : 5).[0m +173.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895646 ms (missed cycles : 5).[0m +174.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096780 ms (missed cycles : 2).[0m +175.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507767 ms (missed cycles : 3).[0m +176.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759334 ms (missed cycles : 2).[0m +177.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318562 ms (missed cycles : 4).[0m +178.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741439 ms (missed cycles : 2).[0m +179.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454517 ms (missed cycles : 2).[0m +180.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726944 ms (missed cycles : 3).[0m +181.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637567 ms (missed cycles : 3).[0m +182.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546916 ms (missed cycles : 3).[0m +183.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.439003 ms (missed cycles : 4).[0m +185.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411562 ms (missed cycles : 2).[0m +186.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660116 ms (missed cycles : 4).[0m +187.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666403 ms (missed cycles : 3).[0m +188.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643847 ms (missed cycles : 3).[0m +189.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829790 ms (missed cycles : 2).[0m +189.58sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +190.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615235 ms (missed cycles : 3).[0m +190.20sINFOobjective_server_nodePlanning for 55 path waypoints. +191.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746593 ms (missed cycles : 3).[0m +192.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.230303 ms (missed cycles : 6).[0m +193.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448348 ms (missed cycles : 3).[0m +194.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938430 ms (missed cycles : 3).[0m +195.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911403 ms (missed cycles : 2).[0m +196.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232872 ms (missed cycles : 4).[0m +197.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963446 ms (missed cycles : 2).[0m +198.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687392 ms (missed cycles : 2).[0m +200.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953700 ms (missed cycles : 5).[0m +201.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142924 ms (missed cycles : 2).[0m +201.08sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m +202.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.208650 ms (missed cycles : 5).[0m +203.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675558 ms (missed cycles : 2).[0m +204.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033774 ms (missed cycles : 3).[0m +205.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589157 ms (missed cycles : 4).[0m +206.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732800 ms (missed cycles : 3).[0m +207.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994944 ms (missed cycles : 3).[0m +208.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541171 ms (missed cycles : 2).[0m +209.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.968501 ms (missed cycles : 4).[0m +210.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679739 ms (missed cycles : 2).[0m +211.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426401 ms (missed cycles : 2).[0m +212.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027053 ms (missed cycles : 2).[0m +212.96sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782675582.26551318 seconds +213.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395396 ms (missed cycles : 4).[0m +213.50sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782675582.81181741 seconds. +214.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960840 ms (missed cycles : 5).[0m +214.82sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] +215.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971169 ms (missed cycles : 5).[0m +216.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451908 ms (missed cycles : 3).[0m +217.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217463 ms (missed cycles : 2).[0m +218.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287978 ms (missed cycles : 2).[0m +219.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239534 ms (missed cycles : 2).[0m +220.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035948 ms (missed cycles : 3).[0m +221.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526519 ms (missed cycles : 3).[0m +222.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472439 ms (missed cycles : 3).[0m +223.70sINFOros2_control_nodeGot request to cancel goal[0m +223.70sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +223.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782675593.01686621 seconds +223.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812803 ms (missed cycles : 2).[0m +224.25sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782675593.56018186 seconds. +224.54sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). +224.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236230 ms (missed cycles : 2).[0m +225.51sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 +225.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711019 ms (missed cycles : 5).[0m +226.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524087 ms (missed cycles : 3).[0m +228.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986279 ms (missed cycles : 3).[0m +229.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897605 ms (missed cycles : 2).[0m +230.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265249 ms (missed cycles : 4).[0m +231.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256457 ms (missed cycles : 4).[0m +232.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007360 ms (missed cycles : 2).[0m +233.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402207 ms (missed cycles : 3).[0m +234.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016067 ms (missed cycles : 5).[0m +235.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475392 ms (missed cycles : 3).[0m +236.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662554 ms (missed cycles : 3).[0m +237.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752065 ms (missed cycles : 2).[0m +238.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760170 ms (missed cycles : 5).[0m +239.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249523 ms (missed cycles : 4).[0m +240.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844243 ms (missed cycles : 3).[0m +241.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601848 ms (missed cycles : 4).[0m +242.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895617 ms (missed cycles : 2).[0m +243.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424777 ms (missed cycles : 2).[0m +245.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395857 ms (missed cycles : 2).[0m +246.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.346479 ms (missed cycles : 7).[0m +247.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003387 ms (missed cycles : 3).[0m +248.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623061 ms (missed cycles : 2).[0m +249.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101656 ms (missed cycles : 4).[0m +250.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528224 ms (missed cycles : 3).[0m +251.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557259 ms (missed cycles : 3).[0m +252.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293927 ms (missed cycles : 4).[0m +253.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612059 ms (missed cycles : 2).[0m +253.97sINFOobjective_server_nodePlanning for 38 path waypoints. ×2 +254.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961805 ms (missed cycles : 5).[0m +255.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581174 ms (missed cycles : 4).[0m +256.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.439283 ms (missed cycles : 4).[0m +257.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801958 ms (missed cycles : 3).[0m +258.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.384619 ms (missed cycles : 6).[0m +259.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941964 ms (missed cycles : 4).[0m +260.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726701 ms (missed cycles : 3).[0m +261.08sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +261.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069696 ms (missed cycles : 4).[0m +262.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094644 ms (missed cycles : 4).[0m +263.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804891 ms (missed cycles : 2).[0m +264.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532290 ms (missed cycles : 2).[0m +266.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203618 ms (missed cycles : 2).[0m +267.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188106 ms (missed cycles : 4).[0m +268.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649262 ms (missed cycles : 3).[0m +269.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161674 ms (missed cycles : 5).[0m +270.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101408 ms (missed cycles : 2).[0m +271.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596734 ms (missed cycles : 3).[0m +272.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.301081 ms (missed cycles : 7).[0m +273.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889512 ms (missed cycles : 2).[0m +274.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676429 ms (missed cycles : 5).[0m +275.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701149 ms (missed cycles : 3).[0m +276.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503945 ms (missed cycles : 4).[0m +277.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677971 ms (missed cycles : 5).[0m +278.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868673 ms (missed cycles : 3).[0m +279.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192213 ms (missed cycles : 3).[0m +280.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837686 ms (missed cycles : 2).[0m +281.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325790 ms (missed cycles : 2).[0m +282.41sINFOobjective_server_nodePlanning for 39 path waypoints. +282.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307601 ms (missed cycles : 4).[0m +283.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052471 ms (missed cycles : 2).[0m +284.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561020 ms (missed cycles : 6).[0m +286.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007277 ms (missed cycles : 3).[0m +287.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898859 ms (missed cycles : 2).[0m +288.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705453 ms (missed cycles : 4).[0m +289.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453584 ms (missed cycles : 2).[0m +290.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677250 ms (missed cycles : 2).[0m +291.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528327 ms (missed cycles : 3).[0m +292.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189109 ms (missed cycles : 4).[0m +293.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051948 ms (missed cycles : 3).[0m +294.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233208 ms (missed cycles : 3).[0m +295.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782675664.67034435 seconds +295.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714968 ms (missed cycles : 3).[0m +295.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782675665.22384691 seconds. +296.25sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). +296.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317651 ms (missed cycles : 4).[0m +298.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737952 ms (missed cycles : 2).[0m +299.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662654 ms (missed cycles : 3).[0m +300.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298642 ms (missed cycles : 4).[0m +301.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525407 ms (missed cycles : 2).[0m +302.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001513 ms (missed cycles : 4).[0m +303.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100416 ms (missed cycles : 3).[0m +304.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704281 ms (missed cycles : 5).[0m +305.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438635 ms (missed cycles : 2).[0m +306.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104864 ms (missed cycles : 2).[0m +307.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123195 ms (missed cycles : 2).[0m +308.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119417 ms (missed cycles : 2).[0m +309.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669310 ms (missed cycles : 2).[0m +310.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856510 ms (missed cycles : 5).[0m +311.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019312 ms (missed cycles : 5).[0m +312.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819926 ms (missed cycles : 3).[0m +313.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142778 ms (missed cycles : 2).[0m +314.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255532 ms (missed cycles : 5).[0m +316.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291086 ms (missed cycles : 3).[0m +317.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022138 ms (missed cycles : 2).[0m +318.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014692 ms (missed cycles : 4).[0m +319.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747610 ms (missed cycles : 4).[0m +320.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.407675 ms (missed cycles : 7).[0m +321.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292927 ms (missed cycles : 2).[0m +322.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795211 ms (missed cycles : 2).[0m +323.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584050 ms (missed cycles : 2).[0m +324.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462178 ms (missed cycles : 3).[0m +325.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.562913 ms (missed cycles : 7).[0m +326.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048004 ms (missed cycles : 2).[0m +327.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.109933 ms (missed cycles : 4).[0m +328.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136798 ms (missed cycles : 2).[0m +329.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.951309 ms (missed cycles : 6).[0m +330.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141209 ms (missed cycles : 2).[0m +331.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605359 ms (missed cycles : 3).[0m +332.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.599653 ms (missed cycles : 6).[0m +333.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359882 ms (missed cycles : 2).[0m +334.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724114 ms (missed cycles : 3).[0m +335.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226004 ms (missed cycles : 4).[0m +337.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396649 ms (missed cycles : 4).[0m +338.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291928 ms (missed cycles : 3).[0m +339.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645982 ms (missed cycles : 3).[0m +340.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895512 ms (missed cycles : 4).[0m +341.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398768 ms (missed cycles : 2).[0m +342.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633605 ms (missed cycles : 3).[0m +343.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155268 ms (missed cycles : 4).[0m +344.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335350 ms (missed cycles : 4).[0m +345.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692806 ms (missed cycles : 3).[0m +346.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214460 ms (missed cycles : 4).[0m +347.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.786319 ms (missed cycles : 8).[0m +348.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756081 ms (missed cycles : 2).[0m +349.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901878 ms (missed cycles : 2).[0m +350.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782675719.55408764 seconds +350.80sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782675720.10832548 seconds. +350.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086033 ms (missed cycles : 3).[0m +351.11sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 +351.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459546 ms (missed cycles : 2).[0m +352.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763238 ms (missed cycles : 3).[0m +353.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422306 ms (missed cycles : 3).[0m +355.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275623 ms (missed cycles : 4).[0m +355.31sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). +355.33sINFOobjective_server_nodePath shortcutter: [X__________________X] +355.35sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 +355.38sINFOobjective_server_nodePath shortcutter: [X____________________X] +355.44sINFOobjective_server_nodePath shortcutter: [X_________________________X] +355.58sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +355.63sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). +355.80sINFOobjective_server_nodeFound path in 29 iterations (0.0267327 s). +355.97sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_____X] +356.01sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). +356.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395374 ms (missed cycles : 4).[0m +356.32sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +356.36sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). +356.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +356.63sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +357.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074664 ms (missed cycles : 5).[0m +358.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684850 ms (missed cycles : 2).[0m +359.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700169 ms (missed cycles : 3).[0m +360.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576881 ms (missed cycles : 3).[0m +361.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946311 ms (missed cycles : 2).[0m +362.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799827 ms (missed cycles : 5).[0m +362.63sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782675731.93987918 seconds +363.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782675732.52663231 seconds. +363.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643581 ms (missed cycles : 5).[0m +363.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782675733.02677917 seconds +364.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782675733.57891655 seconds. +364.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022531 ms (missed cycles : 5).[0m +364.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782675733.92904854 seconds +364.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +365.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.972454 ms (missed cycles : 5).[0m +366.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736318 ms (missed cycles : 3).[0m +367.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664505 ms (missed cycles : 3).[0m +368.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797425 ms (missed cycles : 3).[0m +369.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944492 ms (missed cycles : 4).[0m +370.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494024 ms (missed cycles : 2).[0m +370.98sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +370.98sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +370.99sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +370.99sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +370.99sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +370.99sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +371.00sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +371.00sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +371.00sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] +371.01sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +371.02sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +371.02sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +371.02sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +371.03sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +371.03sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] +371.04sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +371.05sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +371.05sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +371.05sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +371.06sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +371.06sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +371.07sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +371.07sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] +371.08sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] +371.09sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] +371.11sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +371.13sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] +371.14sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] +371.16sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +371.16sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] +371.18sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] +371.20sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] +371.22sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] +371.25sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] +371.25sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +371.26sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +371.28sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +371.28sINFOweb_video_server-31process has finished cleanly [pid 9306] +371.28sERRORmove_group-20process has died [pid 9237, 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_9illhno3 --params-file /tmp/launch_params_ea04a2z1 --params-file /tmp/launch_params_y4cj9unj --params-file /tmp/launch_params_zrqc_2wv --params-file /tmp/launch_params_o_59_xzd --params-file /tmp/launch_params_h9k9ddpy --params-file /tmp/launch_params_x71jamfz --params-file /tmp/launch_params_mncpjxpt --params-file /tmp/launch_params__bhp23nk']. +371.29sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9305] +371.30sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +371.31sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +371.32sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +371.34sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +371.35sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +371.35sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +371.35sERRORui_teleop_bridgeTraceback (most recent call last): +371.35sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +371.35sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +371.35sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +371.35sINFOui_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 +371.35sINFOui_teleop_bridgerclpy.shutdown() +371.35sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +371.36sINFOui_teleop_bridge_shutdown(context=context) +371.36sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +371.36sINFOui_teleop_bridgecontext.shutdown() +371.36sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +371.36sINFOui_teleop_bridgeself.__context.shutdown() +371.36sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +371.36sERRORobjective_server_node_main-25process has died [pid 9290, 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_2ug_vvyp --params-file /tmp/launch_params_3n_tomgm --params-file /tmp/launch_params_j05w5sza --params-file /tmp/launch_params_cvf0d67g --params-file /tmp/launch_params_g2a32cds --params-file /tmp/launch_params_9aymx1z2 --params-file /tmp/launch_params_gtdciaex --params-file /tmp/launch_params_k8gjra73 --params-file /tmp/launch_params_dvclaiud']. +371.36sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m +371.36sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +371.36sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +371.36sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +371.36sINFOcomponent_container_mtStopping planning scene monitor[0m +371.36sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +371.36sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +371.36sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +371.36sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +371.36sERRORmove_groupwhat(): context cannot be slept with because it's invalid +371.36sERRORmove_groupStack trace (most recent call last) in thread 9795: +371.36sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +371.36sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f70c5c0aa63, in __clone +371.36sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f70c5b7daa3, in +371.36sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f70c5e0fdb3, in +371.36sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f70c64641c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +371.36sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f70c61824d0, in rclcpp::Rate::sleep() +371.36sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f70c60d5a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +371.36sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f70c609aa71, in +371.36sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f70c5dde390, in __cxa_throw +371.36sINFOobjective_server_node[2026-06-28 19:42:20.539] [moveit_pro_license] [info] +371.36sINFOobjective_server_node* Application has successfully terminated +371.36sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f70c5dc8a54, in std::terminate() +371.36sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f70c5dde0d9, in +371.36sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f70c5dc8ff4, in +371.36sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f70c5b098fe, in abort +371.36sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f70c5b2627d, in raise +371.36sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f70c5b7fb2c, in pthread_kill +371.36sERRORmove_groupAborted (Signal sent by tkill() 9237 0) +371.36sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +371.36sINFOros2_control_nodeShutdown request received....[0m +371.36sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +371.36sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +371.36sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +371.36sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +371.36sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +371.36sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +371.36sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +371.36sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +371.36sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +371.36sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +371.36sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +371.36sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +371.36sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +371.37sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +371.37sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +371.37sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +371.37sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +371.37sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +371.37sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +371.37sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +371.37sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +371.37sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +371.37sINFOros2_control_nodeShutting down the controller manager.[0m +371.37sERRORobjective_server_nodeStack trace (most recent call last): +371.37sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +371.37sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system +371.37sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +371.37sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5568f53836a4, in _start +371.37sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f57494e828a, in __libc_start_main +371.37sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f57494e81d0, in +371.37sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5749505bbd, in exit +371.37sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5749505a75, in +371.37sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f57499d74a2, in spdlog::details::registry::~registry() +371.37sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f57499e269d, 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() +371.37sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f57499dc965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +371.37sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5568f538a315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +371.37sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5568f53895a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +371.37sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5568f5385b7b, in spdlog_ros::RosSink::~RosSink() +371.37sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5568f5383d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +371.37sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f574a07e454, in rclcpp::Node::~Node() +371.37sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f574a039515, in +371.37sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f574a07cd20, in +371.37sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f574a07cc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +371.37sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f574a0395d9, in +371.37sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f574a03e161, in rclcpp::CallbackGroup::~CallbackGroup() +371.37sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f56f87a2120]) +371.37sERRORodom_qos_relay.pyTraceback (most recent call last): +371.37sINFOodom_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> +371.37sINFOodom_qos_relay.pymain() +371.37sINFOodom_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 +371.37sINFOodom_qos_relay.pyrclpy.spin(node) +371.37sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +371.37sINFOodom_qos_relay.pyexecutor.spin_once() +371.37sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +371.37sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +371.37sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +371.37sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +371.37sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +371.37sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +371.37sINFOodom_qos_relay.pyreturn next(self._cb_iter) +371.37sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +371.37sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +371.37sINFOodom_qos_relay.pyraise ExternalShutdownException() +371.37sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +371.37sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×3 +371.38sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system +371.38sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +371.46sINFOros2_control_nodeAsync messages lost 0[0m ×2 +371.46sINFOros2_control_nodepublish_async_failures_ 3[0m +371.47sINFOros2_control_nodepublish_async_failures_ 1[0m +371.92sERRORcomponent_container_isolated-1process has died [pid 9141, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_urvakci6 --params-file /tmp/launch_params_vb0lklbp -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +372.19sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9282] +372.20sINFOexecute_objective_bridge-27process has finished cleanly [pid 9302] +372.20sERRORui_teleop_bridge-28process has died [pid 9303, 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_pety5y8w']. +372.21sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9240] +372.26sINFOparameter_manager_node-21process has finished cleanly [pid 9238] +372.28sINFOwaypoint_manager_node-22process has finished cleanly [pid 9239] +372.30sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9147] +372.32sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9146] +372.35sINFOstatic_transform_publisher-4process has finished cleanly [pid 9144] +372.36sINFOstatic_transform_publisher-3process has finished cleanly [pid 9143] +372.37sINFOcomponent_container_mt-26process has finished cleanly [pid 9301] +372.38sINFOstatic_transform_publisher-2process has finished cleanly [pid 9142] +372.39sERRORodom_qos_relay.py-5process has died [pid 9145, 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']. +373.59sINFOweb_bridge-29process has finished cleanly [pid 9304] +373.59sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system +374.01sINFOros2_control_node-8process has finished cleanly [pid 9148] +380.44sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-28-19-42-27-318025-e6543317de85-10130 ×2 +388.75sINFOstatic_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' +388.75sINFOstatic_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' +388.76sINFOstatic_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' +388.83sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +388.85sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +388.86sINFOcontroller_managerupdate rate is 600 Hz +388.86sINFOcontroller_managerOverruns handling is : enabled +388.86sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +388.86sWARNcontroller_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. +388.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +388.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +388.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +388.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +388.96sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +388.98sINFOros2_control_node-8process started with pid [10186] ×2 +388.98sINFOmove_group-20process started with pid [10275] ×2 +388.98sINFOparameter_manager_node-21process started with pid [10276] ×2 +388.98sINFOwaypoint_manager_node-22process started with pid [10277] ×2 +388.98sINFOmove_joint_resampler_node-23process started with pid [10278] ×2 +388.98sINFOmove_end_effector_resampler_node-24process started with pid [10336] ×2 +388.98sINFOobjective_server_node_main-25process started with pid [10337] ×2 +388.98sINFOcomponent_container_mt-26process started with pid [10338] ×2 +388.98sINFOexecute_objective_bridge-27process started with pid [10341] ×2 +388.98sINFOui_teleop_bridge-28process started with pid [10342] ×2 +388.98sINFOweb_bridge-29process started with pid [10343] ×2 +388.98sINFOtf2_web_republisher_node-30process started with pid [10344] ×2 +388.98sINFOweb_video_server-31process started with pid [10345] ×2 +388.99sINFOmap_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. +388.99sINFOmap_serverCreating +389.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +389.00sINFOcomponent_container_isolated-1process started with pid [10179] ×2 +389.00sINFOstatic_transform_publisher-2process started with pid [10180] ×2 +389.00sINFOstatic_transform_publisher-3process started with pid [10181] ×2 +389.00sINFOstatic_transform_publisher-4process started with pid [10182] ×2 +389.00sINFOodom_qos_relay.py-5process started with pid [10183] ×2 +389.00sINFOscan_to_scan_filter_chain-6process started with pid [10184] ×2 +389.00sINFOscan_to_scan_filter_chain-7process started with pid [10185] ×2 +389.00sINFOros2-9process started with pid [10264] ×2 +389.00sINFOros2-10process started with pid [10265] ×2 +389.00sINFOros2-11process started with pid [10266] ×2 +389.00sINFOros2-12process started with pid [10267] ×2 +389.00sINFOros2-13process started with pid [10268] ×2 +389.00sINFOros2-14process started with pid [10269] ×2 +389.00sINFOros2-15process started with pid [10270] ×2 +389.01sINFOros2-16process started with pid [10271] ×2 +389.01sINFOros2-17process started with pid [10272] ×2 +389.01sINFOros2-18process started with pid [10273] ×2 +389.01sINFOros2-19process started with pid [10274] ×2 +389.01sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +389.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +389.04sINFOcontroller_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. +389.11sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +389.13sINFOcontroller_serverCreating controller server +389.17sINFOlocal_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. +389.18sINFOlocal_costmap.local_costmapCreating Costmap +389.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +389.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +389.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +389.21sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +389.22sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +389.24sINFOlifecycle_manager_localizationCreating +389.25sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +389.27sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +389.28sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +389.29sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +389.29sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +389.29sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +389.29sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +389.29sINFOmap_serverConfiguring +389.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933116 ms (missed cycles : 2). +389.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933116 ms (missed cycles : 2).[0m ×2 +389.32sINFOrobot_state_publisherRobot initialized +389.33sINFOcontroller_managerReceived robot description from topic. +389.33sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +389.33sINFOsmoother_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. +389.35sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +389.36sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +389.36sINFOmap_serverActivating +389.36sINFOmap_serverCreating bond (map_server) to lifecycle manager. +389.37sINFOsmoother_serverCreating smoother server +389.38sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +389.39sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +389.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +389.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +389.41sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +389.41sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +389.41sINFOplanner_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. +389.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +389.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +389.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +389.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +389.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +389.43sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +389.44sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +389.44sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +389.44sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +389.44sINFOplanner_serverCreating +389.45sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +389.48sINFOlifecycle_manager_localizationServer map_server connected with bond. +389.48sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +389.48sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +389.48sINFOglobal_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. +389.49sINFOglobal_costmap.global_costmapCreating Costmap +389.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +389.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +389.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +389.56sINFObehavior_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. +389.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +389.61sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.467012 seconds +389.61sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +389.61sINFOmove_groupLoaded robot model in 0.467012 seconds[0m ×2 +389.61sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +389.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +389.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +389.66sINFObt_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. +389.68sINFObt_navigatorCreating +389.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +389.70sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +389.70sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +389.74sINFOwaypoint_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. +389.74sINFOwaypoint_followerCreating +389.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +389.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +389.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +389.76sWARNlaser_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. +389.76sWARNlaser_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. +389.78sINFOvelocity_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. +389.80sINFOlifecycle_manager_navigationCreating +389.81sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +389.81sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +389.81sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +389.81sINFOcontroller_serverConfiguring controller interface +389.81sINFOcontroller_servergetting progress checker plugins.. +389.81sINFOcontroller_servergetting goal checker plugins.. +389.81sINFOcontroller_serverController frequency set to 20.0000Hz +389.81sINFOlocal_costmap.local_costmapConfiguring +389.82sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +389.86sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +389.89sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +389.89sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +389.90sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +389.93sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +389.94sINFOcontroller_serverController Server has progress_checker progress checkers available. +389.94sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +389.95sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +389.95sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +389.97sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +389.98sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +389.98sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +389.99sINFOwaypoint_manager_nodeLoaded robot model in 0.365903 seconds[0m ×2 +389.99sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +389.99sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +390.00sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +390.00sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +390.00sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +390.00sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +390.02sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +390.02sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +390.02sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +390.03sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +390.03sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +390.04sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +390.04sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +390.04sINFOcontroller_serverOptimizer reset +390.06sINFOcontroller_serverController Server has FollowPath controllers available. +390.07sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +390.07sINFOsmoother_serverConfiguring smoother server +390.08sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +390.09sWARNmove_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. +390.09sWARNmove_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. +390.09sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +390.09sWARNmove_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. +390.09sWARNmove_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. +390.09sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +390.09sWARNmove_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. +390.09sWARNmove_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. +390.09sWARNmove_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. +390.09sWARNmove_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. +390.09sWARNmove_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. +390.09sWARNmove_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. +390.10sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +390.10sINFOplanner_serverConfiguring +390.10sINFOglobal_costmap.global_costmapConfiguring +390.11sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +390.12sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +390.13sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +390.13sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +390.13sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +390.18sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +390.18sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +390.19sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +390.24sFATALplanner_serverFailed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_navfn_planner/NavfnPlanner with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner::NavfnPlanner nav2_smac_planner::SmacPlanner2D nav2_smac_planner::SmacPlannerHybrid nav2_smac_planner::SmacPlannerLattice nav2_theta_star_planner::ThetaStarPlanner +390.24sINFOplanner_serverCleaning up +390.24sINFOglobal_costmap.global_costmapCleaning up +390.24sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +390.30sERRORcomponent_container_isolated-1process has died [pid 10179, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_qy1lc_28 --params-file /tmp/launch_params_8my9qx07 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 +390.44sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +390.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.821260 ms (missed cycles : 5). +390.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.821260 ms (missed cycles : 5).[0m ×2 +390.49sWARNwaypoint_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. +390.49sWARNwaypoint_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. +390.49sWARNwaypoint_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. +390.49sWARNwaypoint_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. +390.49sWARNwaypoint_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. +390.49sWARNwaypoint_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. +390.50sWARNwaypoint_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. +390.50sWARNwaypoint_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. +390.50sWARNwaypoint_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. +390.51sWARNwaypoint_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. +390.51sWARNwaypoint_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. +390.51sWARNwaypoint_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. +390.51sWARNwaypoint_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. +390.51sWARNwaypoint_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. +390.52sWARNwaypoint_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. +390.52sWARNwaypoint_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. +390.52sWARNwaypoint_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. +390.52sWARNwaypoint_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. +390.52sWARNwaypoint_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. +390.53sWARNwaypoint_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. +390.53sWARNwaypoint_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. +390.53sWARNwaypoint_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. +390.53sWARNwaypoint_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. +390.53sWARNwaypoint_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. +390.54sWARNwaypoint_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. +390.54sWARNwaypoint_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. +390.55sWARNwaypoint_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. +390.55sWARNwaypoint_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. +390.59sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +390.59sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +390.61sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +390.61sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +390.61sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +390.61sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +390.61sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +390.61sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +390.62sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +390.62sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +390.62sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +390.62sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +390.62sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +391.18sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +391.18sINFOcontroller_managerActivating component 'ur_mujoco_control'. +391.18sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +391.18sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +391.19sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +391.19sINFOcontroller_managerLoading controller 'velocity_force_controller' +391.28sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 +391.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 +391.30sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +391.34sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +391.34sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +391.48sINFOobjective_server_node[2026-06-28 19:42:40.792] [moveit_pro_license] [info] ×2 +391.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025929 ms (missed cycles : 2). +391.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025929 ms (missed cycles : 2).[0m ×2 +391.56sINFOobjective_server_nodeLoaded robot model in 0.0259634 seconds[0m ×2 +391.56sINFOros2_control_node[2026-06-28 19:42:40.870] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +391.57sINFOros2_control_node[2026-06-28 19:42:40.873] [info] Controller state will be published at 10 Hz. ×2 +391.57sINFOros2_control_node[2026-06-28 19:42:40.874] [info] VelocityForceController 'on_configure' succeeded. ×2 +391.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +391.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +391.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +391.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +391.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +391.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +391.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +391.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +391.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +391.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +391.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +391.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +391.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +391.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +391.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +391.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +391.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +391.66sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +391.68sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +391.83sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +391.83sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +391.84sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +391.84sWARNobjective_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. +391.84sWARNobjective_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. +391.84sWARNobjective_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. +391.84sWARNobjective_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. +391.84sWARNobjective_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. +391.84sWARNobjective_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. +391.84sWARNobjective_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. +391.84sWARNobjective_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. +391.84sWARNobjective_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. +391.85sWARNobjective_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. +391.85sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +391.85sINFOcontroller_managerLoading controller 'joint_velocity_controller' +391.90sINFOros2-16process has finished cleanly [pid 10271] ×2 +391.95sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 +391.95sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 +391.99sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +391.99sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +392.22sINFOros2_control_node[2026-06-28 19:42:41.528] [info] Controller state will be published at 20 Hz. ×2 +392.22sINFOros2_control_node[2026-06-28 19:42:41.529] [info] JointVelocityController 'on_configure' succeeded. ×2 +392.45sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +392.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621810 ms (missed cycles : 4). +392.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621810 ms (missed cycles : 4).[0m ×2 +392.54sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +392.54sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +392.54sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 +392.54sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 +392.58sINFOros2-18process has finished cleanly [pid 10273] ×2 +392.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +392.60sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +392.60sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +392.60sINFOcontroller_managerSuccessfully switched controllers! ×7 +392.61sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +392.91sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +392.91sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +392.91sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 +392.91sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 +392.95sINFOros2-10process has finished cleanly [pid 10265] ×2 +392.98sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds +392.99sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +392.99sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +393.00sINFOforce_torque_sensor_broadcasterconfigure successful +393.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +393.00sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +393.04sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers +393.04sINFOmove_groupMoveGroup debug mode is ON +393.30sINFOmove_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
********************************************************
+393.30sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +393.30sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +393.31sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 +393.31sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 +393.35sINFOros2-9process has finished cleanly [pid 10264] ×2 +393.36sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +393.36sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +393.36sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +393.36sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +393.36sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +393.37sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +393.38sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +393.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416410 ms (missed cycles : 3). +393.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416410 ms (missed cycles : 3).[0m ×2 +393.72sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +393.73sINFOros2-11process has finished cleanly [pid 10266] ×2 +393.74sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +393.74sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +393.75sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 +393.75sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 +393.77sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +393.78sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +393.79sINFOplatform_velocity_controller_nav2configure successful +393.93sINFOcomponent_container_mtLoaded robot model in 2.08151 seconds[0m ×2 +394.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +394.04sINFOcontroller_managerLoading controller 'platform_velocity_controller' +394.04sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 +394.04sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 +394.10sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +394.10sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +394.11sINFOplatform_velocity_controllerconfigure successful +394.11sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +394.11sINFOros2-14process has finished cleanly [pid 10269] ×2 +394.12sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +394.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.24sWARNplanning_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. +394.24sWARNplanning_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. +394.24sWARNplanning_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. +394.24sWARNplanning_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. +394.24sWARNplanning_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. +394.24sWARNplanning_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. +394.24sWARNplanning_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. +394.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.25sWARNplanning_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. +394.25sWARNplanning_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. +394.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +394.43sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +394.43sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +394.43sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 +394.43sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 +394.46sINFOros2-12process has finished cleanly [pid 10267] ×2 +394.49sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +394.49sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +394.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3). +394.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3).[0m ×2 +394.74sINFOros2_control_node[2026-06-28 19:42:44.048] [info] Controller state will be published at 20 Hz. ×2 +394.74sINFOros2_control_node[2026-06-28 19:42:44.050] [info] JointVelocityController 'on_configure' succeeded. ×2 +394.95sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +394.95sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +394.95sINFOstreaming_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) +395.10sINFOros2-19process has finished cleanly [pid 10274] ×2 +395.12sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +395.37sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +395.37sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +395.38sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 +395.38sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 +395.44sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +395.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +395.45sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +395.45sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +395.45sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +395.45sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +395.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +395.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). +395.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 +395.81sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +395.81sINFOcontroller_managerLoading controller 'vacuum_gripper' +395.81sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 +395.81sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 +395.82sINFOros2-15process has finished cleanly [pid 10270] ×2 +395.83sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +395.87sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +395.87sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +395.87sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +395.87sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +395.88sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +396.23sINFOros2-13process has finished cleanly [pid 10268] ×2 +396.24sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +396.24sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +396.25sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 +396.25sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 +396.30sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +396.30sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +396.58sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +396.58sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 +396.58sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 +396.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). +396.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 +396.92sINFOros2-17process has finished cleanly [pid 10272] ×2 +397.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 +397.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +397.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +397.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 +397.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). +397.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 +397.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 +397.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 +398.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 +398.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 +398.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). +398.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 +399.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 +399.03sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] +399.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +399.03sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 +399.03sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] +399.03sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 +399.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +399.06sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] +399.06sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 +399.06sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] +399.06sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 +399.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 +399.60sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 +399.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). +399.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 +400.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 6 errors · 30 warnings · 280 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.03sINFOros2-12process has finished cleanly [pid 10267] ×2 + 0.06sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.06sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3).[0m ×2 + 0.17sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 0.17sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 0.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.18sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 0.31sINFOros2_control_node[2026-06-28 19:42:44.048] [info] Controller state will be published at 20 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-28 19:42:44.050] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.32sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.33sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 0.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 0.50sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 0.52sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 0.52sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 0.52sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 0.52sINFOstreaming_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) + 0.52sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 0.52sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 0.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 0.67sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.69sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.69sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.95sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.95sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.95sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.02sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.02sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.02sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.02sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.02sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.02sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.02sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.02sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 1.38sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.38sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.38sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.38sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.38sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.38sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.39sINFOros2-15process has finished cleanly [pid 10270] ×2 + 1.40sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.40sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.44sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.44sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.44sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.44sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.44sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.44sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.45sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.45sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.80sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.82sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.82sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.82sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.82sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.82sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.82sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.87sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.87sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.87sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.15sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.15sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 2.16sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.49sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.75sINFOmove_groupClearing octomap...[0m ×2 + 2.75sINFOmove_groupOctomap cleared.[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.63sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.75sERRORobjective_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 + 5.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 6.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 6.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.88sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.44sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 7.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 6 errors · 108 warnings · 312 info |
+ 0.00sINFOcomponent_container_mtLoaded robot model in 2.08151 seconds[0m ×2 + 0.00sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 0.00sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.11sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.11sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.11sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.11sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.17sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.17sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.18sINFOplatform_velocity_controllerconfigure successful + 0.18sINFOros2_control_nodeconfigure successful[0m ×2 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.18sINFOros2-14process has finished cleanly [pid 10269] ×2 + 0.19sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.19sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.30sWARNplanning_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. + 0.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.30sWARNplanning_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. + 0.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.50sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.50sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.50sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.50sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.50sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.53sINFOros2-12process has finished cleanly [pid 10267] ×2 + 0.56sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.56sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3).[0m ×2 + 0.67sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 0.67sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 0.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.68sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 0.81sINFOros2_control_node[2026-06-28 19:42:44.048] [info] Controller state will be published at 20 Hz. ×2 + 0.81sINFOros2_control_node[2026-06-28 19:42:44.050] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 1.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 1.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 1.02sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 1.02sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 1.02sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 1.02sINFOstreaming_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) + 1.02sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 1.02sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 1.17sINFOros2-19process has finished cleanly [pid 10274] ×2 + 1.19sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.19sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.44sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.44sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.51sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.51sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.52sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.52sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.52sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.52sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.52sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.52sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.52sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.52sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.52sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.53sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.53sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 1.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.89sINFOros2-15process has finished cleanly [pid 10270] ×2 + 1.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.94sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.94sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.95sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.95sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 2.30sINFOros2-13process has finished cleanly [pid 10268] ×2 + 2.31sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.31sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.32sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.32sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 2.32sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 2.37sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 2.37sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.37sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.99sINFOros2-17process has finished cleanly [pid 10272] ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.25sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 5.10sINFOobjective_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 + 5.10sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.10sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.10sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 5.67sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 6.25sERRORobjective_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 + 6.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 6.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 6.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 7.38sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[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/2026-06-28-19-42-27-318025-e6543317de85-10130 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 6 errors · 24 warnings · 277 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.03sINFOros2-12process has finished cleanly [pid 10267] ×2 + 0.06sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.06sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3).[0m ×2 + 0.17sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 0.17sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 0.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.18sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 0.31sINFOros2_control_node[2026-06-28 19:42:44.048] [info] Controller state will be published at 20 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-28 19:42:44.050] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.32sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.33sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 0.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 0.50sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 0.52sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 0.52sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 0.52sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 0.52sINFOstreaming_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) + 0.52sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 0.52sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 0.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 0.67sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.69sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.69sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.95sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.95sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.95sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.02sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.02sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.02sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.02sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.02sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.02sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.02sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.02sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 1.38sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.38sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.38sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.38sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.38sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.38sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.39sINFOros2-15process has finished cleanly [pid 10270] ×2 + 1.40sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.40sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.44sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.44sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.44sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.44sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.44sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.44sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.45sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.45sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.80sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.82sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.82sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.82sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.82sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.82sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.82sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.87sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.87sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.87sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.15sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.15sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 2.16sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.49sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.75sINFOmove_groupClearing octomap...[0m ×2 + 2.75sINFOmove_groupOctomap cleared.[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.63sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.75sERRORobjective_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 + 5.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 6.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 6.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.88sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 6 errors · 105 warnings · 292 info |
+ 0.00sINFOcomponent_container_mtLoaded robot model in 2.08151 seconds[0m ×2 + 0.00sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 0.00sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.11sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.11sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.11sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.11sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.17sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.17sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.18sINFOplatform_velocity_controllerconfigure successful + 0.18sINFOros2_control_nodeconfigure successful[0m ×2 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.18sINFOros2-14process has finished cleanly [pid 10269] ×2 + 0.19sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.19sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.30sWARNplanning_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. + 0.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.30sWARNplanning_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. + 0.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.50sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.50sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.50sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.50sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.50sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.53sINFOros2-12process has finished cleanly [pid 10267] ×2 + 0.56sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.56sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3).[0m ×2 + 0.67sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 0.67sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 0.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.68sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 0.81sINFOros2_control_node[2026-06-28 19:42:44.048] [info] Controller state will be published at 20 Hz. ×2 + 0.81sINFOros2_control_node[2026-06-28 19:42:44.050] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 1.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 1.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 1.02sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 1.02sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 1.02sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 1.02sINFOstreaming_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) + 1.02sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 1.02sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 1.17sINFOros2-19process has finished cleanly [pid 10274] ×2 + 1.19sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.19sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.44sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.44sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.51sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.51sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.52sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.52sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.52sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.52sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.52sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.52sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.52sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.52sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.52sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.53sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.53sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 1.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.89sINFOros2-15process has finished cleanly [pid 10270] ×2 + 1.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.94sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.94sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.95sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.95sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 2.30sINFOros2-13process has finished cleanly [pid 10268] ×2 + 2.31sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.31sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.32sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.32sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 2.32sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 2.37sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 2.37sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.37sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.99sINFOros2-17process has finished cleanly [pid 10272] ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.25sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 5.10sINFOobjective_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 + 5.10sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.10sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.10sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 5.67sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 6.25sERRORobjective_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 + 6.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 6 errors · 105 warnings · 292 info |
+ 0.00sINFOcomponent_container_mtLoaded robot model in 2.08151 seconds[0m ×2 + 0.00sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 0.00sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.11sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.11sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.11sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.11sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.17sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.17sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.18sINFOplatform_velocity_controllerconfigure successful + 0.18sINFOros2_control_nodeconfigure successful[0m ×2 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.18sINFOros2-14process has finished cleanly [pid 10269] ×2 + 0.19sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.19sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.30sWARNplanning_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. + 0.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.30sWARNplanning_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. + 0.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.50sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.50sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.50sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.50sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.50sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.53sINFOros2-12process has finished cleanly [pid 10267] ×2 + 0.56sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.56sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3).[0m ×2 + 0.67sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 0.67sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 0.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.68sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 0.81sINFOros2_control_node[2026-06-28 19:42:44.048] [info] Controller state will be published at 20 Hz. ×2 + 0.81sINFOros2_control_node[2026-06-28 19:42:44.050] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 1.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 1.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 1.02sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 1.02sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 1.02sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 1.02sINFOstreaming_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) + 1.02sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 1.02sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 1.17sINFOros2-19process has finished cleanly [pid 10274] ×2 + 1.19sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.19sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.44sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.44sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.51sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.51sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.52sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.52sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.52sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.52sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.52sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.52sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.52sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.52sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.52sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.53sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.53sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 1.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.89sINFOros2-15process has finished cleanly [pid 10270] ×2 + 1.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.94sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.94sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.95sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.95sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 2.30sINFOros2-13process has finished cleanly [pid 10268] ×2 + 2.31sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.31sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.32sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.32sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 2.32sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 2.37sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 2.37sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.37sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.99sINFOros2-17process has finished cleanly [pid 10272] ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.25sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 5.10sINFOobjective_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 + 5.10sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.10sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.10sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 5.67sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 6.25sERRORobjective_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 + 6.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 6 errors · 105 warnings · 292 info |
+ 0.00sINFOcomponent_container_mtLoaded robot model in 2.08151 seconds[0m ×2 + 0.00sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 0.00sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.11sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.11sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.11sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.11sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.17sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.17sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.18sINFOplatform_velocity_controllerconfigure successful + 0.18sINFOros2_control_nodeconfigure successful[0m ×2 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.18sINFOros2-14process has finished cleanly [pid 10269] ×2 + 0.19sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.19sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.30sWARNplanning_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. + 0.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.30sWARNplanning_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. + 0.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.31sWARNplanning_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. + 0.31sWARNplanning_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. + 0.31sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNplanning_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. + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 0.50sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.50sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.50sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.50sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.50sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.53sINFOros2-12process has finished cleanly [pid 10267] ×2 + 0.56sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.56sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509721 ms (missed cycles : 3).[0m ×2 + 0.67sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 0.67sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 0.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.68sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 0.81sINFOros2_control_node[2026-06-28 19:42:44.048] [info] Controller state will be published at 20 Hz. ×2 + 0.81sINFOros2_control_node[2026-06-28 19:42:44.050] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 1.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 1.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 1.02sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 1.02sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 1.02sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 1.02sINFOstreaming_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) + 1.02sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 1.02sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 1.17sINFOros2-19process has finished cleanly [pid 10274] ×2 + 1.19sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.19sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.44sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.44sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.51sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.51sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.52sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.52sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.52sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.52sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.52sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.52sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.52sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.52sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.52sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.53sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.53sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 1.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.89sINFOros2-15process has finished cleanly [pid 10270] ×2 + 1.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.94sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.94sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.95sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.95sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 2.30sINFOros2-13process has finished cleanly [pid 10268] ×2 + 2.31sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.31sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.32sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.32sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 2.32sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 2.37sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 2.37sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.37sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 2.65sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.99sINFOros2-17process has finished cleanly [pid 10272] ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.25sINFOmove_groupClearing octomap...[0m ×2 + 3.25sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 5.10sINFOobjective_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 + 5.10sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.10sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.10sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 5.67sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 6.25sERRORobjective_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 + 6.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 6 errors · 27 warnings · 230 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 + 6.99sINFOjoint_trajectory_controllerReceived new action goal + 6.99sINFOjoint_trajectory_controllerAccepted new action goal + 6.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.99sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 6 errors · 27 warnings · 224 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 10274] ×2 + 0.02sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.35sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.35sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.35sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.35sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.35sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327130 ms (missed cycles : 2).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 0.71sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 0.72sINFOros2-15process has finished cleanly [pid 10270] ×2 + 0.72sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.12sINFOros2-13process has finished cleanly [pid 10268] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 + 1.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z_48m9ed --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_tl2wvwzf --params-file /tmp/launch_params_brwrktw6 [0m ×2 + 1.20sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.20sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.889] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.891] [info] Controller state will be published at 10 Hz. ×2 + 1.48sINFOros2_control_node[2026-06-28 19:42:45.892] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210195 ms (missed cycles : 3).[0m ×2 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2-17process has finished cleanly [pid 10272] ×2 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782675766.48400974 seconds. ×3 + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.07sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782675766.49423909 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782675767.04565954 seconds. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782675767.05580950 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782675767.60175109 seconds. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782675767.75238633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426494 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782675768.32100129 seconds. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.92sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.95sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782675768.37114859 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782675768.91129756 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166928 ms (missed cycles : 5).[0m ×2 + 5.08sERRORobjective_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 + 5.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782675769.49148250 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782675770.12915683 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149076 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 | ||||