68
Total objective tests
16
Objectives passed
1
Objectives failed
51
Objectives skipped
22.9s
Avg test time
94%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives1 fail12 pass24 skip
| ✕ failed | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 1.2s | 9 errors · 30 warnings · 153 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.36sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.36sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.37sINFOros2-18process has finished cleanly [pid 10253] ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 0.43sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.43sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.44sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.46sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.82sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 0.83sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.16sINFOros2-19process has finished cleanly [pid 10254] ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 1.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.46sINFOmove_groupClearing octomap...[0m ×2 + 1.46sINFOmove_groupOctomap cleared.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 3.35sINFOobjective_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 + 3.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.35sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 4.14sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 4.66sERRORobjective_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 + 4.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 + 6.39sWARNobjective_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. ×6 + 6.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×6 + 6.63sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080548 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080548 ms (missed cycles : 2).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001812 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001812 ms (missed cycles : 2).[0m ×2 + 7.80sINFOjoint_trajectory_controllerReceived new action goal + 7.80sINFOjoint_trajectory_controllerAccepted new action goal + 7.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.80sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 70.6s | 3 errors · 234 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.492569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.492569 ms (missed cycles : 8).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515898 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515898 ms (missed cycles : 7).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784959 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784959 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.135264 ms (missed cycles : 7). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.135264 ms (missed cycles : 7).[0m ×2 + 3.68sINFOjoint_trajectory_controllerGot request to cancel goal + 3.68sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.68sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.68sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782745359.16697168 seconds ×3 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565230 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565230 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782745359.73108029 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694182 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694182 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.95sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.95sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.95sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697965 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697965 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412213 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412213 ms (missed cycles : 3).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348709 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348709 ms (missed cycles : 3).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.911928 ms (missed cycles : 7). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.911928 ms (missed cycles : 7).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168975 ms (missed cycles : 4). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168975 ms (missed cycles : 4).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866374 ms (missed cycles : 3). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866374 ms (missed cycles : 3).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982722 ms (missed cycles : 3). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982722 ms (missed cycles : 3).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.402883 ms (missed cycles : 5). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.402883 ms (missed cycles : 5).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626140 ms (missed cycles : 3). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626140 ms (missed cycles : 3).[0m ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911255 ms (missed cycles : 2). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911255 ms (missed cycles : 2).[0m ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976150 ms (missed cycles : 2). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976150 ms (missed cycles : 2).[0m ×2 + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662432 ms (missed cycles : 3). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662432 ms (missed cycles : 3).[0m ×2 + 19.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512612 ms (missed cycles : 5). + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512612 ms (missed cycles : 5).[0m ×2 + 20.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.687349 ms (missed cycles : 7). + 20.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.687349 ms (missed cycles : 7).[0m ×2 + 21.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250422 ms (missed cycles : 4). + 21.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250422 ms (missed cycles : 4).[0m ×2 + 22.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896739 ms (missed cycles : 2). + 22.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896739 ms (missed cycles : 2).[0m ×2 + 23.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546591 ms (missed cycles : 3). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546591 ms (missed cycles : 3).[0m ×2 + 24.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844310 ms (missed cycles : 4). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844310 ms (missed cycles : 4).[0m ×2 + 25.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800412 ms (missed cycles : 4). + 25.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800412 ms (missed cycles : 4).[0m ×2 + 26.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350716 ms (missed cycles : 5). + 26.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350716 ms (missed cycles : 5).[0m ×2 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260466 ms (missed cycles : 2). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260466 ms (missed cycles : 2).[0m ×2 + 28.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314126 ms (missed cycles : 3). + 28.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314126 ms (missed cycles : 3).[0m ×2 + 29.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336518 ms (missed cycles : 3). + 29.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336518 ms (missed cycles : 3).[0m ×2 + 30.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983775 ms (missed cycles : 3). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983775 ms (missed cycles : 3).[0m ×2 + 31.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180938 ms (missed cycles : 3). + 31.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180938 ms (missed cycles : 3).[0m ×2 + 32.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287905 ms (missed cycles : 2). + 32.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287905 ms (missed cycles : 2).[0m ×2 + 33.22sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.23sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.379648 ms (missed cycles : 7). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.379648 ms (missed cycles : 7).[0m ×2 + 33.71sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.41sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×9 + 34.41sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 34.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221044 ms (missed cycles : 4). + 34.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221044 ms (missed cycles : 4).[0m ×2 + 35.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208689 ms (missed cycles : 3). + 35.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208689 ms (missed cycles : 3).[0m ×2 + 36.68sINFOros2_control_nodeMuJoCo sim: 1.07% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 36.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.192338 ms (missed cycles : 8). + 36.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.192338 ms (missed cycles : 8).[0m ×2 + 37.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153587 ms (missed cycles : 2). + 37.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153587 ms (missed cycles : 2).[0m ×2 + 38.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479422 ms (missed cycles : 2). + 38.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479422 ms (missed cycles : 2).[0m ×2 + 39.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906402 ms (missed cycles : 2). + 39.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906402 ms (missed cycles : 2).[0m ×2 + 40.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209006 ms (missed cycles : 2). + 40.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209006 ms (missed cycles : 2).[0m ×2 + 42.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216337 ms (missed cycles : 6). + 42.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216337 ms (missed cycles : 6).[0m ×2 + 43.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545133 ms (missed cycles : 3). + 43.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545133 ms (missed cycles : 3).[0m ×2 + 44.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253681 ms (missed cycles : 4). + 44.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253681 ms (missed cycles : 4).[0m ×2 + 45.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321508 ms (missed cycles : 4). + 45.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321508 ms (missed cycles : 4).[0m ×2 + 46.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858805 ms (missed cycles : 2). + 46.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858805 ms (missed cycles : 2).[0m ×2 + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853553 ms (missed cycles : 2). + 47.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853553 ms (missed cycles : 2).[0m ×2 + 48.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471953 ms (missed cycles : 2). + 48.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471953 ms (missed cycles : 2).[0m ×2 + 49.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.626546 ms (missed cycles : 7). + 49.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.626546 ms (missed cycles : 7).[0m ×2 + 50.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848896 ms (missed cycles : 2). + 50.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848896 ms (missed cycles : 2).[0m ×2 + 50.57sINFOobjective_server_nodePlanning for 40 path waypoints. ×3 + 51.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723852 ms (missed cycles : 3). + 51.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723852 ms (missed cycles : 3).[0m ×2 + 52.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257616 ms (missed cycles : 2). + 52.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257616 ms (missed cycles : 2).[0m ×2 + 53.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839086 ms (missed cycles : 4). + 53.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839086 ms (missed cycles : 4).[0m ×2 + 54.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163296 ms (missed cycles : 3). + 54.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163296 ms (missed cycles : 3).[0m ×2 + 55.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543739 ms (missed cycles : 3). + 55.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543739 ms (missed cycles : 3).[0m ×2 + 56.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160735 ms (missed cycles : 3). + 56.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160735 ms (missed cycles : 3).[0m ×2 + 57.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855282 ms (missed cycles : 2). + 57.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855282 ms (missed cycles : 2).[0m ×2 + 58.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766565 ms (missed cycles : 2). + 58.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766565 ms (missed cycles : 2).[0m ×2 + 59.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957190 ms (missed cycles : 3). + 59.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957190 ms (missed cycles : 3).[0m ×2 + 60.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133824 ms (missed cycles : 3). + 60.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133824 ms (missed cycles : 3).[0m ×2 + 61.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517862 ms (missed cycles : 4). + 61.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517862 ms (missed cycles : 4).[0m ×2 + 62.49sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 62.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657434 ms (missed cycles : 3). + 62.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657434 ms (missed cycles : 3).[0m ×2 + 63.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793654 ms (missed cycles : 2). + 63.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793654 ms (missed cycles : 2).[0m ×2 + 64.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891345 ms (missed cycles : 2). + 64.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891345 ms (missed cycles : 2).[0m ×2 + 65.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024397 ms (missed cycles : 4). + 65.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024397 ms (missed cycles : 4).[0m ×2 + 66.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113435 ms (missed cycles : 2). + 66.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113435 ms (missed cycles : 2).[0m ×2 + 68.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516519 ms (missed cycles : 5). + 68.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516519 ms (missed cycles : 5).[0m ×2 + 69.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085358 ms (missed cycles : 5). + 69.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085358 ms (missed cycles : 5).[0m ×2 + 70.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565437 ms (missed cycles : 5). + 70.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565437 ms (missed cycles : 5).[0m ×2 + 71.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3). + 71.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3).[0m ×2 + 72.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5). + 72.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5).[0m ×2 + 73.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6). + 73.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6).[0m ×2 + 74.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3). + 74.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3).[0m ×2 + 74.37sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782745429.80136943 seconds ×3 + 74.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782745430.36485767 seconds. ×3 + 75.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3). + 75.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3).[0m ×2 + 75.35sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 76.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2). + 76.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2).[0m ×2 + 77.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4). + 77.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.9s | 186 warnings · 101 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782745197.36245632 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190077 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190077 ms (missed cycles : 3).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782745197.92318320 seconds. ×3 + 1.54sINFOobjective_server_nodeFound path in 0 iterations (2.509e-05 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656460 ms (missed cycles : 3). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656460 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.56sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.56sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.56sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.56sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592351 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592351 ms (missed cycles : 2).[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029889 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029889 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782745201.01334906 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782745201.56876016 seconds. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273825 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273825 ms (missed cycles : 3).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088135 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088135 ms (missed cycles : 4).[0m ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103748 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103748 ms (missed cycles : 3).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031782 ms (missed cycles : 5). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.031782 ms (missed cycles : 5).[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829527 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829527 ms (missed cycles : 2).[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835541 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835541 ms (missed cycles : 2).[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110428 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110428 ms (missed cycles : 3).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287534 ms (missed cycles : 3). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287534 ms (missed cycles : 3).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.820490 ms (missed cycles : 7). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.820490 ms (missed cycles : 7).[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346554 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346554 ms (missed cycles : 2).[0m ×2 + 14.75sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802778 ms (missed cycles : 5). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802778 ms (missed cycles : 5).[0m ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268954 ms (missed cycles : 2). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268954 ms (missed cycles : 2).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055904 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055904 ms (missed cycles : 2).[0m ×2 + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573929 ms (missed cycles : 5). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573929 ms (missed cycles : 5).[0m ×2 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601566 ms (missed cycles : 4). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601566 ms (missed cycles : 4).[0m ×2 + 20.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674838 ms (missed cycles : 2). + 20.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674838 ms (missed cycles : 2).[0m ×2 + 21.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796088 ms (missed cycles : 2). + 21.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796088 ms (missed cycles : 2).[0m ×2 + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562840 ms (missed cycles : 4). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562840 ms (missed cycles : 4).[0m ×2 + 23.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796445 ms (missed cycles : 4). + 23.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796445 ms (missed cycles : 4).[0m ×2 + 24.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267903 ms (missed cycles : 3). + 24.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267903 ms (missed cycles : 3).[0m ×2 + 25.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961365 ms (missed cycles : 2). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961365 ms (missed cycles : 2).[0m ×2 + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.837641 ms (missed cycles : 7). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.837641 ms (missed cycles : 7).[0m ×2 + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.472192 ms (missed cycles : 5). + 27.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.472192 ms (missed cycles : 5).[0m ×2 + 28.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.594740 ms (missed cycles : 5). + 28.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.594740 ms (missed cycles : 5).[0m ×2 + 29.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340484 ms (missed cycles : 3). + 29.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340484 ms (missed cycles : 3).[0m ×2 + 30.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951581 ms (missed cycles : 4). + 30.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951581 ms (missed cycles : 4).[0m ×2 + 31.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865419 ms (missed cycles : 4). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865419 ms (missed cycles : 4).[0m ×2 + 32.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865705 ms (missed cycles : 3). + 32.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865705 ms (missed cycles : 3).[0m ×2 + 33.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180494 ms (missed cycles : 5). + 33.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180494 ms (missed cycles : 5).[0m ×2 + 34.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317817 ms (missed cycles : 3). + 34.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317817 ms (missed cycles : 3).[0m ×2 + 34.92sWARNobjective_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 + 34.92sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554441 ms (missed cycles : 2). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554441 ms (missed cycles : 2).[0m ×2 + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019437 ms (missed cycles : 2). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019437 ms (missed cycles : 2).[0m ×2 + 37.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270182 ms (missed cycles : 2). + 37.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270182 ms (missed cycles : 2).[0m ×2 + 38.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616101 ms (missed cycles : 5). + 38.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616101 ms (missed cycles : 5).[0m ×2 + 39.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318243 ms (missed cycles : 3). + 39.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318243 ms (missed cycles : 3).[0m ×2 + 41.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896355 ms (missed cycles : 2). + 41.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896355 ms (missed cycles : 2).[0m ×2 + 42.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.740137 ms (missed cycles : 5). + 42.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.740137 ms (missed cycles : 5).[0m ×2 + 43.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.764777 ms (missed cycles : 7). + 43.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.764777 ms (missed cycles : 7).[0m ×2 + 44.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850572 ms (missed cycles : 4). + 44.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850572 ms (missed cycles : 4).[0m ×2 + 45.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762210 ms (missed cycles : 2). + 45.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762210 ms (missed cycles : 2).[0m ×2 + 46.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543693 ms (missed cycles : 5). + 46.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543693 ms (missed cycles : 5).[0m ×2 + 47.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742390 ms (missed cycles : 4). + 47.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742390 ms (missed cycles : 4).[0m ×2 + 48.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490400 ms (missed cycles : 3). + 48.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490400 ms (missed cycles : 3).[0m ×2 + 49.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294180 ms (missed cycles : 2). + 49.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294180 ms (missed cycles : 2).[0m ×2 + 50.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647356 ms (missed cycles : 4). + 50.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647356 ms (missed cycles : 4).[0m ×2 + 51.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297693 ms (missed cycles : 3). + 51.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297693 ms (missed cycles : 3).[0m ×2 + 52.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991027 ms (missed cycles : 3). + 52.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991027 ms (missed cycles : 3).[0m ×2 + 53.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376279 ms (missed cycles : 5). + 53.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376279 ms (missed cycles : 5).[0m ×2 + 54.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537340 ms (missed cycles : 5). + 54.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537340 ms (missed cycles : 5).[0m ×2 + 55.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064859 ms (missed cycles : 3). + 55.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064859 ms (missed cycles : 3).[0m ×2 + 56.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216635 ms (missed cycles : 2). + 56.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216635 ms (missed cycles : 2).[0m ×2 + 57.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737456 ms (missed cycles : 3). + 57.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737456 ms (missed cycles : 3).[0m ×2 + 58.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873352 ms (missed cycles : 2). + 58.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873352 ms (missed cycles : 2).[0m ×2 + 59.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233692 ms (missed cycles : 2). + 59.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233692 ms (missed cycles : 2).[0m ×2 + 60.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782745257.88890553 seconds ×3 + 60.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947907 ms (missed cycles : 3). + 60.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947907 ms (missed cycles : 3).[0m ×2 + 61.11sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782745258.46207976 seconds. ×3 + 61.48sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 61.50sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961008 ms (missed cycles : 2). + 61.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961008 ms (missed cycles : 2).[0m ×2 + 62.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312081 ms (missed cycles : 2). + 62.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312081 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.3s | 180 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.23sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782745429.80136943 seconds ×3 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782745430.36485767 seconds. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.72sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.72sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.72sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829662 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829662 ms (missed cycles : 3).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716355 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716355 ms (missed cycles : 3).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750017 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750017 ms (missed cycles : 2).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362715 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362715 ms (missed cycles : 3).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259347 ms (missed cycles : 3). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259347 ms (missed cycles : 3).[0m ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095961 ms (missed cycles : 4). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095961 ms (missed cycles : 4).[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.484969 ms (missed cycles : 6). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.484969 ms (missed cycles : 6).[0m ×2 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225394 ms (missed cycles : 2). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225394 ms (missed cycles : 2).[0m ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787410 ms (missed cycles : 2). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787410 ms (missed cycles : 2).[0m ×2 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403945 ms (missed cycles : 5). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403945 ms (missed cycles : 5).[0m ×2 + 18.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059391 ms (missed cycles : 3). + 18.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059391 ms (missed cycles : 3).[0m ×2 + 19.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555776 ms (missed cycles : 2). + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555776 ms (missed cycles : 2).[0m ×2 + 20.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714924 ms (missed cycles : 2). + 20.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714924 ms (missed cycles : 2).[0m ×2 + 21.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.923920 ms (missed cycles : 7). + 21.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.923920 ms (missed cycles : 7).[0m ×2 + 22.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734274 ms (missed cycles : 2). + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734274 ms (missed cycles : 2).[0m ×2 + 23.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565552 ms (missed cycles : 5). + 23.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565552 ms (missed cycles : 5).[0m ×2 + 24.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853476 ms (missed cycles : 4). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853476 ms (missed cycles : 4).[0m ×2 + 25.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634721 ms (missed cycles : 4). + 25.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634721 ms (missed cycles : 4).[0m ×2 + 25.59sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 26.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246897 ms (missed cycles : 3). + 26.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246897 ms (missed cycles : 3).[0m ×2 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139401 ms (missed cycles : 3). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139401 ms (missed cycles : 3).[0m ×2 + 28.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083862 ms (missed cycles : 5). + 28.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083862 ms (missed cycles : 5).[0m ×2 + 29.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949961 ms (missed cycles : 3). + 29.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949961 ms (missed cycles : 3).[0m ×2 + 30.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.294476 ms (missed cycles : 6). + 30.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.294476 ms (missed cycles : 6).[0m ×2 + 31.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.321657 ms (missed cycles : 6). + 31.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.321657 ms (missed cycles : 6).[0m ×2 + 32.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801975 ms (missed cycles : 2). + 32.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801975 ms (missed cycles : 2).[0m ×2 + 32.92sWARNobjective_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 + 32.92sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392055 ms (missed cycles : 3). + 33.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392055 ms (missed cycles : 3).[0m ×2 + 34.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112187 ms (missed cycles : 3). + 34.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112187 ms (missed cycles : 3).[0m ×2 + 35.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532835 ms (missed cycles : 3). + 35.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532835 ms (missed cycles : 3).[0m ×2 + 36.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491273 ms (missed cycles : 2). + 36.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491273 ms (missed cycles : 2).[0m ×2 + 38.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613512 ms (missed cycles : 2). + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613512 ms (missed cycles : 2).[0m ×2 + 39.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673740 ms (missed cycles : 3). + 39.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673740 ms (missed cycles : 3).[0m ×2 + 40.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425831 ms (missed cycles : 3). + 40.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425831 ms (missed cycles : 3).[0m ×2 + 41.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138828 ms (missed cycles : 2). + 41.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138828 ms (missed cycles : 2).[0m ×2 + 42.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434454 ms (missed cycles : 4). + 42.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434454 ms (missed cycles : 4).[0m ×2 + 43.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061033 ms (missed cycles : 2). + 43.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061033 ms (missed cycles : 2).[0m ×2 + 44.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990194 ms (missed cycles : 4). + 44.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990194 ms (missed cycles : 4).[0m ×2 + 45.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.843677 ms (missed cycles : 7). + 45.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.843677 ms (missed cycles : 7).[0m ×2 + 46.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496390 ms (missed cycles : 6). + 46.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496390 ms (missed cycles : 6).[0m ×2 + 47.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.763728 ms (missed cycles : 10). + 47.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.763728 ms (missed cycles : 10).[0m ×2 + 48.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420601 ms (missed cycles : 4). + 48.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420601 ms (missed cycles : 4).[0m ×2 + 49.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621746 ms (missed cycles : 4). + 49.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621746 ms (missed cycles : 4).[0m ×2 + 50.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783097 ms (missed cycles : 2). + 50.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783097 ms (missed cycles : 2).[0m ×2 + 51.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885421 ms (missed cycles : 2). + 51.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885421 ms (missed cycles : 2).[0m ×2 + 52.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668333 ms (missed cycles : 4). + 52.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668333 ms (missed cycles : 4).[0m ×2 + 53.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029665 ms (missed cycles : 4). + 53.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029665 ms (missed cycles : 4).[0m ×2 + 54.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654897 ms (missed cycles : 5). + 54.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654897 ms (missed cycles : 5).[0m ×2 + 55.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585037 ms (missed cycles : 5). + 55.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585037 ms (missed cycles : 5).[0m ×2 + 57.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646678 ms (missed cycles : 2). + 57.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646678 ms (missed cycles : 2).[0m ×2 + 58.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366131 ms (missed cycles : 2). + 58.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366131 ms (missed cycles : 2).[0m ×2 + 58.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782745485.08501887 seconds ×3 + 59.11sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782745485.64186215 seconds. ×3 + 59.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052739 ms (missed cycles : 2). + 59.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052739 ms (missed cycles : 2).[0m ×2 + 59.45sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 59.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742618 ms (missed cycles : 2). + 60.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742618 ms (missed cycles : 2).[0m ×2 + 61.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829365 ms (missed cycles : 2). + 61.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829365 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 53.5s | 174 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979944 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979944 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904818 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904818 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340346 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340346 ms (missed cycles : 3).[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.91sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.96sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782745294.63698721 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430061 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782745295.20463061 seconds. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674417 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674417 ms (missed cycles : 4).[0m ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.14sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.14sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.14sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145067 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145067 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846442 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846442 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175449 ms (missed cycles : 5). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175449 ms (missed cycles : 5).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251128 ms (missed cycles : 2). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251128 ms (missed cycles : 2).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857593 ms (missed cycles : 4). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857593 ms (missed cycles : 4).[0m ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978328 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978328 ms (missed cycles : 2).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385295 ms (missed cycles : 3). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385295 ms (missed cycles : 3).[0m ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403484 ms (missed cycles : 3). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403484 ms (missed cycles : 3).[0m ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556408 ms (missed cycles : 5). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556408 ms (missed cycles : 5).[0m ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434779 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434779 ms (missed cycles : 3).[0m ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082384 ms (missed cycles : 3). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082384 ms (missed cycles : 3).[0m ×2 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532848 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532848 ms (missed cycles : 2).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.788487 ms (missed cycles : 6). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.788487 ms (missed cycles : 6).[0m ×2 + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914619 ms (missed cycles : 2). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914619 ms (missed cycles : 2).[0m ×2 + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579547 ms (missed cycles : 4). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579547 ms (missed cycles : 4).[0m ×2 + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.246468 ms (missed cycles : 6). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.246468 ms (missed cycles : 6).[0m ×2 + 21.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470641 ms (missed cycles : 4). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470641 ms (missed cycles : 4).[0m ×2 + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574685 ms (missed cycles : 2). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574685 ms (missed cycles : 2).[0m ×2 + 24.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228521 ms (missed cycles : 3). + 24.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228521 ms (missed cycles : 3).[0m ×2 + 25.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.979139 ms (missed cycles : 6). + 25.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.979139 ms (missed cycles : 6).[0m ×2 + 26.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382428 ms (missed cycles : 3). + 26.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382428 ms (missed cycles : 3).[0m ×2 + 27.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.460358 ms (missed cycles : 8). + 27.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.460358 ms (missed cycles : 8).[0m ×2 + 28.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568106 ms (missed cycles : 3). + 28.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568106 ms (missed cycles : 3).[0m ×2 + 29.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479755 ms (missed cycles : 2). + 29.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479755 ms (missed cycles : 2).[0m ×2 + 30.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.344622 ms (missed cycles : 6). + 30.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.344622 ms (missed cycles : 6).[0m ×2 + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808598 ms (missed cycles : 2). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808598 ms (missed cycles : 2).[0m ×2 + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539817 ms (missed cycles : 2). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539817 ms (missed cycles : 2).[0m ×2 + 32.97sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 33.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513402 ms (missed cycles : 3). + 33.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513402 ms (missed cycles : 3).[0m ×2 + 33.62sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 33.62sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 34.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567908 ms (missed cycles : 3). + 34.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567908 ms (missed cycles : 3).[0m ×2 + 35.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.443865 ms (missed cycles : 5). + 35.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.443865 ms (missed cycles : 5).[0m ×2 + 36.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916670 ms (missed cycles : 2). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916670 ms (missed cycles : 2).[0m ×2 + 37.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685482 ms (missed cycles : 3). + 37.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685482 ms (missed cycles : 3).[0m ×2 + 38.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.676502 ms (missed cycles : 5). + 38.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.676502 ms (missed cycles : 5).[0m ×2 + 39.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482981 ms (missed cycles : 2). + 39.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482981 ms (missed cycles : 2).[0m ×2 + 40.43sINFOros2_control_nodeMuJoCo sim: 0.94% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363140 ms (missed cycles : 4). + 40.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363140 ms (missed cycles : 4).[0m ×2 + 41.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138492 ms (missed cycles : 2). + 41.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138492 ms (missed cycles : 2).[0m ×2 + 42.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.091922 ms (missed cycles : 6). + 42.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.091922 ms (missed cycles : 6).[0m ×2 + 44.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026774 ms (missed cycles : 3). + 44.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026774 ms (missed cycles : 3).[0m ×2 + 45.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740250 ms (missed cycles : 2). + 45.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740250 ms (missed cycles : 2).[0m ×2 + 46.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120559 ms (missed cycles : 4). + 46.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120559 ms (missed cycles : 4).[0m ×2 + 47.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490552 ms (missed cycles : 2). + 47.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490552 ms (missed cycles : 2).[0m ×2 + 48.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066884 ms (missed cycles : 3). + 48.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066884 ms (missed cycles : 3).[0m ×2 + 49.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742621 ms (missed cycles : 2). + 49.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742621 ms (missed cycles : 2).[0m ×2 + 50.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991824 ms (missed cycles : 2). + 50.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991824 ms (missed cycles : 2).[0m ×2 + 51.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460923 ms (missed cycles : 2). + 51.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460923 ms (missed cycles : 2).[0m ×2 + 52.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484122 ms (missed cycles : 5). + 52.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484122 ms (missed cycles : 5).[0m ×2 + 53.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439778 ms (missed cycles : 3). + 53.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439778 ms (missed cycles : 3).[0m ×2 + 54.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028592 ms (missed cycles : 3). + 54.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028592 ms (missed cycles : 3).[0m ×2 + 55.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724056 ms (missed cycles : 2). + 55.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724056 ms (missed cycles : 2).[0m ×2 + 56.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782745348.11476994 seconds ×3 + 56.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404116 ms (missed cycles : 2). + 56.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404116 ms (missed cycles : 2).[0m ×2 + 57.00sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782745348.67775893 seconds. ×3 + 57.36sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 57.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473962 ms (missed cycles : 3). + 57.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473962 ms (missed cycles : 3).[0m ×2 + 58.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336119 ms (missed cycles : 2). + 58.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336119 ms (missed cycles : 2).[0m ×2 + 58.65sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 44.6s | 9 errors · 153 warnings · 153 info |
+ 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.25sINFOros2-19process has finished cleanly [pid 10254] ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 0.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.55sINFOmove_groupClearing octomap...[0m ×2 + 0.55sINFOmove_groupOctomap cleared.[0m ×2 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 1.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 1.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 1.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 2.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 2.44sINFOobjective_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 + 2.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 3.23sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 3.75sERRORobjective_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 + 3.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 + 5.48sWARNobjective_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. ×6 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×6 + 5.72sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080548 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080548 ms (missed cycles : 2).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001812 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001812 ms (missed cycles : 2).[0m ×2 + 6.89sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.89sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.89sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.89sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792607 ms (missed cycles : 4). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792607 ms (missed cycles : 4).[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164827 ms (missed cycles : 3). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164827 ms (missed cycles : 3).[0m ×2 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890481 ms (missed cycles : 3). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890481 ms (missed cycles : 3).[0m ×2 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962553 ms (missed cycles : 3). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962553 ms (missed cycles : 3).[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857654 ms (missed cycles : 3). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857654 ms (missed cycles : 3).[0m ×2 + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291226 ms (missed cycles : 3). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291226 ms (missed cycles : 3).[0m ×2 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075093 ms (missed cycles : 2). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075093 ms (missed cycles : 2).[0m ×2 + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454575 ms (missed cycles : 3). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454575 ms (missed cycles : 3).[0m ×2 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873420 ms (missed cycles : 2). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873420 ms (missed cycles : 2).[0m ×2 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.514152 ms (missed cycles : 7). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.514152 ms (missed cycles : 7).[0m ×2 + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252175 ms (missed cycles : 3). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252175 ms (missed cycles : 3).[0m ×2 + 19.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490802 ms (missed cycles : 2). + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490802 ms (missed cycles : 2).[0m ×2 + 20.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743053 ms (missed cycles : 2). + 20.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743053 ms (missed cycles : 2).[0m ×2 + 21.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278903 ms (missed cycles : 4). + 21.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278903 ms (missed cycles : 4).[0m ×2 + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839879 ms (missed cycles : 3). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839879 ms (missed cycles : 3).[0m ×2 + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.217103 ms (missed cycles : 6). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.217103 ms (missed cycles : 6).[0m ×2 + 24.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105179 ms (missed cycles : 6). + 24.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105179 ms (missed cycles : 6).[0m ×2 + 25.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033636 ms (missed cycles : 3). + 25.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033636 ms (missed cycles : 3).[0m ×2 + 27.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.050396 ms (missed cycles : 7). + 27.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.050396 ms (missed cycles : 7).[0m ×2 + 28.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858269 ms (missed cycles : 4). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858269 ms (missed cycles : 4).[0m ×2 + 29.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312264 ms (missed cycles : 2). + 29.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312264 ms (missed cycles : 2).[0m ×2 + 30.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506693 ms (missed cycles : 5). + 30.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506693 ms (missed cycles : 5).[0m ×2 + 31.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572185 ms (missed cycles : 4). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572185 ms (missed cycles : 4).[0m ×2 + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969522 ms (missed cycles : 2). + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969522 ms (missed cycles : 2).[0m ×2 + 33.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646996 ms (missed cycles : 2). + 33.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646996 ms (missed cycles : 2).[0m ×2 + 34.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801746 ms (missed cycles : 3). + 34.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801746 ms (missed cycles : 3).[0m ×2 + 35.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167238 ms (missed cycles : 5). + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167238 ms (missed cycles : 5).[0m ×2 + 36.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148265 ms (missed cycles : 4). + 36.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148265 ms (missed cycles : 4).[0m ×2 + 37.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262393 ms (missed cycles : 4). + 37.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262393 ms (missed cycles : 4).[0m ×2 + 38.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761388 ms (missed cycles : 4). + 38.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761388 ms (missed cycles : 4).[0m ×2 + 39.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989360 ms (missed cycles : 3). + 39.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989360 ms (missed cycles : 3).[0m ×2 + 40.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694037 ms (missed cycles : 2). + 40.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694037 ms (missed cycles : 2).[0m ×2 + 41.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718386 ms (missed cycles : 2). + 41.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718386 ms (missed cycles : 2).[0m ×2 + 42.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686475 ms (missed cycles : 2). + 42.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686475 ms (missed cycles : 2).[0m ×2 + 43.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233325 ms (missed cycles : 2). + 43.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233325 ms (missed cycles : 2).[0m ×2 + 44.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621652 ms (missed cycles : 2). + 44.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621652 ms (missed cycles : 2).[0m ×2 + 45.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116532 ms (missed cycles : 6). + 45.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116532 ms (missed cycles : 6).[0m ×2 + 46.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121198 ms (missed cycles : 3). + 46.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121198 ms (missed cycles : 3).[0m ×2 + 47.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302909 ms (missed cycles : 3). + 47.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302909 ms (missed cycles : 3).[0m ×2 + 48.48sINFOjoint_trajectory_controllerGoal reached, success! + 48.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 48.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782745197.36245632 seconds ×3 + 49.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190077 ms (missed cycles : 3). + 49.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190077 ms (missed cycles : 3).[0m ×2 + 49.05sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782745197.92318320 seconds. ×3 + 50.02sINFOobjective_server_nodeFound path in 0 iterations (2.509e-05 s). ×2 + 50.02sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 50.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656460 ms (missed cycles : 3). + 50.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656460 ms (missed cycles : 3).[0m ×2 + 50.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 51.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592351 ms (missed cycles : 2). + 51.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592351 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.1s | 108 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312081 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312081 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097325 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097325 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329079 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329079 ms (missed cycles : 3).[0m ×2 + 2.35sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.35sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.39sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782745262.56223440 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264184 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264184 ms (missed cycles : 4).[0m ×2 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.94sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782745264.11683130 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611583 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611583 ms (missed cycles : 4).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097237 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097237 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.05sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683143 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683143 ms (missed cycles : 2).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.863856 ms (missed cycles : 4). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.863856 ms (missed cycles : 4).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851974 ms (missed cycles : 4). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851974 ms (missed cycles : 4).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816483 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816483 ms (missed cycles : 2).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460063 ms (missed cycles : 4). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460063 ms (missed cycles : 4).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163708 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163708 ms (missed cycles : 3).[0m ×2 + 11.93sINFOros2_control_nodeMuJoCo sim: 0.89% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922757 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922757 ms (missed cycles : 2).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.081749 ms (missed cycles : 4). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.081749 ms (missed cycles : 4).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466107 ms (missed cycles : 5). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466107 ms (missed cycles : 5).[0m ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094261 ms (missed cycles : 3). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094261 ms (missed cycles : 3).[0m ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826899 ms (missed cycles : 2). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826899 ms (missed cycles : 2).[0m ×2 + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770369 ms (missed cycles : 3). + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770369 ms (missed cycles : 3).[0m ×2 + 19.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973849 ms (missed cycles : 3). + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973849 ms (missed cycles : 3).[0m ×2 + 20.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796338 ms (missed cycles : 2). + 20.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796338 ms (missed cycles : 2).[0m ×2 + 21.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.731098 ms (missed cycles : 5). + 21.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.731098 ms (missed cycles : 5).[0m ×2 + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384629 ms (missed cycles : 3). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384629 ms (missed cycles : 3).[0m ×2 + 23.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938154 ms (missed cycles : 3). + 23.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938154 ms (missed cycles : 3).[0m ×2 + 24.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785767 ms (missed cycles : 2). + 24.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785767 ms (missed cycles : 2).[0m ×2 + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394122 ms (missed cycles : 3). + 25.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394122 ms (missed cycles : 3).[0m ×2 + 26.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708736 ms (missed cycles : 2). + 26.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708736 ms (missed cycles : 2).[0m ×2 + 27.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606467 ms (missed cycles : 2). + 27.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606467 ms (missed cycles : 2).[0m ×2 + 28.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092330 ms (missed cycles : 3). + 28.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092330 ms (missed cycles : 3).[0m ×2 + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585278 ms (missed cycles : 3). + 29.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585278 ms (missed cycles : 3).[0m ×2 + 30.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056996 ms (missed cycles : 2). + 30.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056996 ms (missed cycles : 2).[0m ×2 + 31.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979944 ms (missed cycles : 2). + 31.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979944 ms (missed cycles : 2).[0m ×2 + 32.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904818 ms (missed cycles : 4). + 32.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904818 ms (missed cycles : 4).[0m ×2 + 33.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340346 ms (missed cycles : 3). + 33.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340346 ms (missed cycles : 3).[0m ×2 + 34.46sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782745294.63698721 seconds ×3 + 34.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430061 ms (missed cycles : 3). + 34.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430061 ms (missed cycles : 3).[0m ×2 + 35.03sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782745295.20463061 seconds. ×3 + 35.39sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 35.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674417 ms (missed cycles : 4). + 35.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674417 ms (missed cycles : 4).[0m ×2 + 36.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145067 ms (missed cycles : 2). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145067 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 13.0s | 78 errors · 30 warnings · 381 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.349673 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.349673 ms (missed cycles : 7).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248767 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248767 ms (missed cycles : 3).[0m ×2 + 1.67sINFOjoint_trajectory_controllerGoal reached, success! + 1.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.71sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782745497.84210682 seconds ×3 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690302 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690302 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782745498.43381524 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782745498.96804333 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792218 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792218 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782745499.51844907 seconds. ×3 + 3.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782745499.98859310 seconds ×3 + 4.09sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948649 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948649 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534067 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534067 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048578 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048578 ms (missed cycles : 5).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712028 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712028 ms (missed cycles : 2).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334274 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334274 ms (missed cycles : 2).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816683 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816683 ms (missed cycles : 2).[0m ×2 + 9.75sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.77sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.77sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.77sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 9.79sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.80sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.80sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 9.83sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.83sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.84sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.84sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.84sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 9.89sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 9.91sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 9.92sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.93sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 9.95sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 9.97sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 9.99sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 10.00sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.01sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 10.03sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 10.04sINFOweb_video_server-31process has finished cleanly [pid 10325] ×2 + 10.05sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 10.08sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 10.08sINFOcontroller_managerShutdown request received.... + 10.08sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.08sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.08sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.08sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.08sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.08sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.08sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.08sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.08sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.08sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.08sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.08sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.09sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.09sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.09sINFOtf2_web_republisher_node-30process has finished cleanly [pid 10324] ×2 + 10.09sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.09sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.09sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.09sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.09sINFOcontroller_managerShutting down the controller manager. + 10.10sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.12sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.13sERRORmove_group-20process has died [pid 10255, 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_uo5bgzgc --params-file /tmp/launch_params_i_n0ec1d --params-file /tmp/launch_params_8g4946jx --params-file /tmp/launch_params_4i1ndegw --params-file /tmp/launch_params_lri05ysh --params-file /tmp/launch_params_0724reoz --params-file /tmp/launch_params_irsxj6ea --params-file /tmp/launch_params_xezzne_2 --params-file /tmp/launch_params_dulsott2']. ×2 + 10.14sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.16sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.18sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.20sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.22sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.22sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.22sINFOmap_serverDeactivating + 10.22sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.22sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.22sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.22sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.22sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.22sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 10.22sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.22sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.22sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.22sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.22sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.22sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.22sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.22sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.22sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.22sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.23sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.23sERRORmove_groupStack trace (most recent call last) in thread 10824: ×2 + 10.23sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 10.23sINFOmap_serverCleaning up + 10.23sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.23sINFOcontroller_serverCleaning up + 10.23sINFOlocal_costmap.local_costmapCleaning up + 10.23sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.23sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa57a341a63, in __clone ×2 + 10.23sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa57a2b4aa3, in ×2 + 10.23sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa57a546db3, in ×2 + 10.23sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fa57ab9b1c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.23sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa57a8b94d0, in rclcpp::Rate::sleep() ×2 + 10.23sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa57a80ca88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.23sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa57a7d1a71, in ×2 + 10.23sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa57a515390, in __cxa_throw ×2 + 10.23sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa57a4ffa54, in std::terminate() ×2 + 10.23sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa57a5150d9, in ×2 + 10.23sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa57a4ffff4, in ×2 + 10.23sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa57a2408fe, in abort ×2 + 10.23sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa57a25d27d, in raise ×2 + 10.23sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa57a2b6b2c, in pthread_kill ×2 + 10.23sERRORmove_groupAborted (Signal sent by tkill() 10255 0) ×2 + 10.23sINFOobjective_server_node[2026-06-29 15:05:06.205] [moveit_pro_license] [info] ×2 + 10.23sINFOobjective_server_node************************************************* ×4 + 10.23sINFOobjective_server_node* MoveIt Pro License ×2 + 10.23sINFOobjective_server_node* Application has successfully terminated ×2 + 10.23sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.23sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.23sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.23sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.23sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.23sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.23sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.23sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.23sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.24sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.24sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.24sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559b051536a4, in _start ×2 + 10.24sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6fad54128a, in __libc_start_main ×2 + 10.24sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6fad5411d0, in ×2 + 10.24sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6fad55ebbd, in exit ×2 + 10.24sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6fad55ea75, in ×2 + 10.24sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f6fada304a2, in spdlog::details::registry::~registry() ×2 + 10.24sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f6fada3b69d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 10.24sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f6fada35965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.24sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559b0515a315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.24sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559b051595a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.24sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559b05155b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.24sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559b05153d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.24sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6fae0d7454, in rclcpp::Node::~Node() ×2 + 10.24sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6fae092515, in ×2 + 10.24sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6fae0d5d20, in ×2 + 10.24sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6fae0d5c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.24sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6fae0925d9, in ×2 + 10.24sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6fae097161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.24sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f6f5d91d120]) ×2 + 10.24sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.24sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.24sINFOodom_qos_relay.pymain() ×2 + 10.24sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.24sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.24sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.24sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.24sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.24sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.24sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.24sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.24sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.24sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.24sERRORobjective_server_node_main-25process has died [pid 10317, 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_nqr44z2g --params-file /tmp/launch_params_0ioh0g1s --params-file /tmp/launch_params_dq44qhu3 --params-file /tmp/launch_params_ylprjvwr --params-file /tmp/launch_params_8xkww8ow --params-file /tmp/launch_params_4uhqgbw6 --params-file /tmp/launch_params_p0ttx4co --params-file /tmp/launch_params_k46qlxql --params-file /tmp/launch_params_9fxsa5lh']. ×2 + 10.24sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.25sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.25sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 10.27sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.27sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.27sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.28sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.28sINFOsmoother_serverCleaning up + 10.30sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.30sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.30sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.30sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.30sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.30sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.30sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.30sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.30sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.30sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.30sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.30sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.30sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.30sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.30sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.03sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 10316] ×2 + 11.03sERRORui_teleop_bridge-28process has died [pid 10322, 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_jw6amuan']. ×2 + 11.03sINFOexecute_objective_bridge-27process has finished cleanly [pid 10321] ×2 + 11.04sINFOmove_joint_resampler_node-23process has finished cleanly [pid 10258] ×2 + 11.11sINFOparameter_manager_node-21process has finished cleanly [pid 10256] ×2 + 11.13sINFOwaypoint_manager_node-22process has finished cleanly [pid 10257] ×2 + 11.15sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 10165] ×2 + 11.17sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10164] ×2 + 11.21sINFOstatic_transform_publisher-4process has finished cleanly [pid 10162] ×2 + 11.22sINFOstatic_transform_publisher-3process has finished cleanly [pid 10161] ×2 + 11.24sINFOstatic_transform_publisher-2process has finished cleanly [pid 10160] ×2 + 11.24sINFOcomponent_container_mt-26process has finished cleanly [pid 10318] ×2 + 11.25sERRORodom_qos_relay.py-5process has died [pid 10163, 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 + 12.59sINFOweb_bridge-29process has finished cleanly [pid 10323] ×2 + 12.59sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 12.90sINFOros2_control_node-8process has finished cleanly [pid 10166] ×2 + 14.76sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 14.77sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×2 + 14.78sERRORcomponent_container_isolated-1process has died [pid 10159, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_i8z0q_rx --params-file /tmp/launch_params_l3sub1_l -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.8s | 57 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654897 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654897 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585037 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585037 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646678 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646678 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366131 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366131 ms (missed cycles : 2).[0m ×2 + 3.59sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.59sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782745485.08501887 seconds ×3 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.20sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782745485.64186215 seconds. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052739 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052739 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.58sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.58sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.58sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.58sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742618 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742618 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829365 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829365 ms (missed cycles : 2).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066743 ms (missed cycles : 4). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066743 ms (missed cycles : 4).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.204465 ms (missed cycles : 6). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.204465 ms (missed cycles : 6).[0m ×2 + 8.76sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 8.79sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.82sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 8.85sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.88sINFOobjective_server_nodeFound path in 0 iterations (8.5e-07 s). ×2 + 8.93sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.10sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.14sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 9.36sINFOobjective_server_nodeFound path in 29 iterations (0.0271855 s). ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555535 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555535 ms (missed cycles : 2).[0m ×2 + 9.58sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 9.63sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 10.00sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.05sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 10.36sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.39sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320615 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320615 ms (missed cycles : 2).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447921 ms (missed cycles : 3). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447921 ms (missed cycles : 3).[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803633 ms (missed cycles : 2). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803633 ms (missed cycles : 2).[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861729 ms (missed cycles : 3). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861729 ms (missed cycles : 3).[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.349673 ms (missed cycles : 7). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.349673 ms (missed cycles : 7).[0m ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248767 ms (missed cycles : 3). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248767 ms (missed cycles : 3).[0m ×2 + 16.40sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782745497.84210682 seconds ×3 + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690302 ms (missed cycles : 2). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690302 ms (missed cycles : 2).[0m ×2 + 16.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782745498.43381524 seconds. ×3 + 17.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.00sINFOmove_groupClearing octomap...[0m ×2 + 17.00sINFOmove_groupOctomap cleared.[0m ×2 + 17.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782745498.96804333 seconds ×3 + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792218 ms (missed cycles : 3). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792218 ms (missed cycles : 3).[0m ×2 + 18.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782745499.51844907 seconds. ×3 + 18.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782745499.98859310 seconds ×3 + 18.78sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948649 ms (missed cycles : 2). + 19.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948649 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.1s | 3 errors · 51 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439778 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439778 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028592 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028592 ms (missed cycles : 3).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724056 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724056 ms (missed cycles : 2).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782745348.11476994 seconds ×3 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404116 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404116 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782745348.67775893 seconds. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473962 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473962 ms (missed cycles : 3).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336119 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336119 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.23sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258640 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258640 ms (missed cycles : 2).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297364 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297364 ms (missed cycles : 3).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.595341 ms (missed cycles : 8). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.595341 ms (missed cycles : 8).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783515 ms (missed cycles : 3). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783515 ms (missed cycles : 3).[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.492569 ms (missed cycles : 8). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.492569 ms (missed cycles : 8).[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515898 ms (missed cycles : 7). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515898 ms (missed cycles : 7).[0m ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784959 ms (missed cycles : 3). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784959 ms (missed cycles : 3).[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.135264 ms (missed cycles : 7). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.135264 ms (missed cycles : 7).[0m ×2 + 13.98sINFOjoint_trajectory_controllerGot request to cancel goal + 13.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.98sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782745359.16697168 seconds ×3 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565230 ms (missed cycles : 2). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565230 ms (missed cycles : 2).[0m ×2 + 14.59sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782745359.73108029 seconds. ×3 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694182 ms (missed cycles : 2). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694182 ms (missed cycles : 2).[0m ×2 + 16.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697965 ms (missed cycles : 2). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697965 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.7s | 36 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737456 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737456 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873352 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873352 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233692 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233692 ms (missed cycles : 2).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.86sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782745257.88890553 seconds ×3 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947907 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947907 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782745258.46207976 seconds. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.87sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.87sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.87sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961008 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961008 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312081 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312081 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097325 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097325 ms (missed cycles : 2).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329079 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329079 ms (missed cycles : 3).[0m ×2 + 7.57sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782745262.56223440 seconds ×3 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264184 ms (missed cycles : 4). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264184 ms (missed cycles : 4).[0m ×2 + 9.13sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782745264.11683130 seconds. ×3 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611583 ms (missed cycles : 4). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611583 ms (missed cycles : 4).[0m ×2 + 9.48sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097237 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097237 ms (missed cycles : 2).[0m ×2 + 11.01sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683143 ms (missed cycles : 2). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683143 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 33 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621652 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621652 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116532 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116532 ms (missed cycles : 6).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121198 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121198 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302909 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302909 ms (missed cycles : 3).[0m ×2 + 3.60sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.61sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782745197.36245632 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190077 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190077 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782745197.92318320 seconds. ×3 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.509e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656460 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656460 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.16sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.17sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592351 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592351 ms (missed cycles : 2).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029889 ms (missed cycles : 3). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029889 ms (missed cycles : 3).[0m ×2 + 7.27sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782745201.01334906 seconds ×3 + 7.82sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782745201.56876016 seconds. ×3 + 8.19sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273825 ms (missed cycles : 3). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273825 ms (missed cycles : 3).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088135 ms (missed cycles : 4). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088135 ms (missed cycles : 4).[0m ×2 + 9.75sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103748 ms (missed cycles : 3). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103748 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 24 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803633 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803633 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861729 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861729 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.349673 ms (missed cycles : 7). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.349673 ms (missed cycles : 7).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248767 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248767 ms (missed cycles : 3).[0m ×2 + 3.83sINFOjoint_trajectory_controllerGoal reached, success! + 3.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782745497.84210682 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690302 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690302 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782745498.43381524 seconds. ×3 + 4.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.47sINFOmove_groupClearing octomap...[0m ×2 + 4.47sINFOmove_groupOctomap cleared.[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782745498.96804333 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792218 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792218 ms (missed cycles : 3).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782745499.51844907 seconds. ×3 + 6.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782745499.98859310 seconds ×3 + 6.25sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948649 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948649 ms (missed cycles : 2).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534067 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534067 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 58 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782745197.36245632 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190077 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190077 ms (missed cycles : 3).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782745197.92318320 seconds. ×3 + 1.54sINFOobjective_server_nodeFound path in 0 iterations (2.509e-05 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656460 ms (missed cycles : 3). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656460 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.56sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.56sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.56sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.56sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592351 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592351 ms (missed cycles : 2).[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029889 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029889 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782745201.01334906 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782745201.56876016 seconds. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273825 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273825 ms (missed cycles : 3).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088135 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088135 ms (missed cycles : 4).[0m ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103748 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103748 ms (missed cycles : 3).[0m ×2 | ||||
| − 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 3.737456 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737456 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873352 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873352 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233692 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233692 ms (missed cycles : 2).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782745257.88890553 seconds ×3 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947907 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947907 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782745258.46207976 seconds. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.87sINFOjoint_trajectory_controllerReceived new action goal + 3.87sINFOjoint_trajectory_controllerAccepted new action goal + 3.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961008 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961008 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312081 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312081 ms (missed cycles : 2).[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 3.737456 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737456 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873352 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873352 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233692 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233692 ms (missed cycles : 2).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782745257.88890553 seconds ×3 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947907 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947907 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782745258.46207976 seconds. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.87sINFOjoint_trajectory_controllerReceived new action goal + 3.87sINFOjoint_trajectory_controllerAccepted new action goal + 3.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961008 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961008 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312081 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312081 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782745429.80136943 seconds ×3 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782745430.36485767 seconds. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782745429.80136943 seconds ×3 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782745430.36485767 seconds. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 6 errors · 24 warnings · 199 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_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.03sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-17process has finished cleanly [pid 10252] ×2 + 0.07sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.07sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.08sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.08sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.09sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.09sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186325 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186325 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2-13process has finished cleanly [pid 10248] ×2 + 0.48sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.76sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.78sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.50sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.51sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.51sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.52sINFOros2-16process has finished cleanly [pid 10251] ×2 + 1.59sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.59sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.67sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.67sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.42sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.42sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.42sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 2.42sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.42sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.43sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 2.43sINFOros2-18process has finished cleanly [pid 10253] ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 2.49sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 2.49sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 2.50sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.50sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.88sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 2.89sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sINFOros2-19process has finished cleanly [pid 10254] ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.52sINFOmove_groupClearing octomap...[0m ×2 + 3.52sINFOmove_groupOctomap cleared.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 6.72sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 6.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782745429.80136943 seconds ×3 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782745430.36485767 seconds. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782745429.80136943 seconds ×3 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782745430.36485767 seconds. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782745429.80136943 seconds ×3 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782745430.36485767 seconds. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782745429.80136943 seconds ×3 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782745430.36485767 seconds. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782745429.80136943 seconds ×3 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782745430.36485767 seconds. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078008 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091750 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.414419 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435800 ms (missed cycles : 3).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782745429.80136943 seconds ×3 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782745430.36485767 seconds. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908386 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814891 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385848 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621652 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621652 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116532 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116532 ms (missed cycles : 6).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121198 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121198 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302909 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302909 ms (missed cycles : 3).[0m ×2 + 3.60sINFOjoint_trajectory_controllerGoal reached, success! + 3.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782745197.36245632 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190077 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190077 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782745197.92318320 seconds. ×3 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.509e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656460 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656460 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592351 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592351 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621652 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621652 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116532 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116532 ms (missed cycles : 6).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121198 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121198 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302909 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302909 ms (missed cycles : 3).[0m ×2 + 3.60sINFOjoint_trajectory_controllerGoal reached, success! + 3.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782745197.36245632 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190077 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190077 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782745197.92318320 seconds. ×3 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.509e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656460 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656460 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592351 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592351 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 6 errors · 24 warnings · 199 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_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.03sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-17process has finished cleanly [pid 10252] ×2 + 0.07sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.07sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.08sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.08sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.09sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.09sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186325 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186325 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2-13process has finished cleanly [pid 10248] ×2 + 0.48sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.76sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.78sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.50sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.51sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.51sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.52sINFOros2-16process has finished cleanly [pid 10251] ×2 + 1.59sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.59sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.67sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.67sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.42sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.42sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.42sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 2.42sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.42sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.43sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 2.43sINFOros2-18process has finished cleanly [pid 10253] ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 2.49sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 2.49sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 2.50sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.50sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.88sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 2.89sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sINFOros2-19process has finished cleanly [pid 10254] ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.52sINFOmove_groupClearing octomap...[0m ×2 + 3.52sINFOmove_groupOctomap cleared.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 6.72sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 6.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 | ||||
| − 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 3.737456 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737456 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873352 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873352 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233692 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233692 ms (missed cycles : 2).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782745257.88890553 seconds ×3 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947907 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947907 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782745258.46207976 seconds. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.87sINFOjoint_trajectory_controllerReceived new action goal + 3.87sINFOjoint_trajectory_controllerAccepted new action goal + 3.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961008 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961008 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312081 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312081 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737456 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737456 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873352 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873352 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233692 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233692 ms (missed cycles : 2).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782745257.88890553 seconds ×3 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947907 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947907 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782745258.46207976 seconds. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.87sINFOjoint_trajectory_controllerReceived new action goal + 3.87sINFOjoint_trajectory_controllerAccepted new action goal + 3.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961008 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961008 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312081 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312081 ms (missed cycles : 2).[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 3.737456 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737456 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873352 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873352 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233692 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233692 ms (missed cycles : 2).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782745257.88890553 seconds ×3 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947907 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947907 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782745258.46207976 seconds. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.87sINFOjoint_trajectory_controllerReceived new action goal + 3.87sINFOjoint_trajectory_controllerAccepted new action goal + 3.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961008 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961008 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312081 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312081 ms (missed cycles : 2).[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 1.979944 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979944 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904818 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904818 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340346 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340346 ms (missed cycles : 3).[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782745294.63698721 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430061 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782745295.20463061 seconds. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674417 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674417 ms (missed cycles : 4).[0m ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145067 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145067 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 1.979944 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979944 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904818 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904818 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340346 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340346 ms (missed cycles : 3).[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782745294.63698721 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430061 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782745295.20463061 seconds. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674417 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674417 ms (missed cycles : 4).[0m ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145067 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145067 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 1.979944 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979944 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904818 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904818 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340346 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340346 ms (missed cycles : 3).[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782745294.63698721 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430061 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782745295.20463061 seconds. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674417 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674417 ms (missed cycles : 4).[0m ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145067 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145067 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 6 errors · 24 warnings · 199 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_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.03sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-17process has finished cleanly [pid 10252] ×2 + 0.07sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.07sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.08sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.08sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.09sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.09sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186325 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186325 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2-13process has finished cleanly [pid 10248] ×2 + 0.48sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.76sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.78sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.50sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.51sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.51sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.52sINFOros2-16process has finished cleanly [pid 10251] ×2 + 1.59sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.59sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.67sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.67sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.42sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.42sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.42sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 2.42sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.42sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.43sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 2.43sINFOros2-18process has finished cleanly [pid 10253] ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 2.49sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 2.49sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 2.50sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.50sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.88sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 2.89sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sINFOros2-19process has finished cleanly [pid 10254] ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.52sINFOmove_groupClearing octomap...[0m ×2 + 3.52sINFOmove_groupOctomap cleared.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 6.72sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 6.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803633 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803633 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861729 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861729 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.349673 ms (missed cycles : 7). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.349673 ms (missed cycles : 7).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248767 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248767 ms (missed cycles : 3).[0m ×2 + 3.83sINFOjoint_trajectory_controllerGoal reached, success! + 3.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782745497.84210682 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690302 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690302 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782745498.43381524 seconds. ×3 + 4.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.47sINFOmove_groupClearing octomap...[0m ×2 + 4.47sINFOmove_groupOctomap cleared.[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782745498.96804333 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792218 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792218 ms (missed cycles : 3).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782745499.51844907 seconds. ×3 + 6.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782745499.98859310 seconds ×3 + 6.25sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948649 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948649 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 26.3s | 63 errors · 749 warnings · 1762 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/2026-06-29-14-52-09-622622-1a4c41c5ce68-9073 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 13.13sINFOros2_control_node-8process started with pid [9129] + 13.13sINFOmove_group-20process started with pid [9218] + 13.13sINFOparameter_manager_node-21process started with pid [9219] + 13.13sINFOwaypoint_manager_node-22process started with pid [9220] + 13.13sINFOmove_joint_resampler_node-23process started with pid [9221] + 13.13sINFOmove_end_effector_resampler_node-24process started with pid [9244] + 13.13sINFOobjective_server_node_main-25process started with pid [9245] + 13.13sINFOcomponent_container_mt-26process started with pid [9246] + 13.13sINFOexecute_objective_bridge-27process started with pid [9247] + 13.13sINFOui_teleop_bridge-28process started with pid [9264] + 13.13sINFOweb_bridge-29process started with pid [9265] + 13.13sINFOtf2_web_republisher_node-30process started with pid [9266] + 13.13sINFOweb_video_server-31process started with pid [9268] + 13.15sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 13.15sINFOcomponent_container_isolated-1process started with pid [9122] + 13.15sINFOstatic_transform_publisher-2process started with pid [9123] + 13.15sINFOstatic_transform_publisher-3process started with pid [9124] + 13.15sINFOstatic_transform_publisher-4process started with pid [9125] + 13.15sINFOodom_qos_relay.py-5process started with pid [9126] + 13.15sINFOscan_to_scan_filter_chain-6process started with pid [9127] + 13.15sINFOscan_to_scan_filter_chain-7process started with pid [9128] + 13.15sINFOros2-9process started with pid [9200] + 13.15sINFOros2-10process started with pid [9201] + 13.15sINFOros2-11process started with pid [9205] + 13.15sINFOros2-12process started with pid [9209] + 13.15sINFOros2-13process started with pid [9211] + 13.15sINFOros2-14process started with pid [9212] + 13.15sINFOros2-15process started with pid [9213] + 13.15sINFOros2-16process started with pid [9214] + 13.15sINFOros2-17process started with pid [9215] + 13.15sINFOros2-18process started with pid [9216] + 13.15sINFOros2-19process started with pid [9217] + 13.23sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×9 + 13.23sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×9 + 13.24sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×9 + 13.24sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×9 + 13.24sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 13.24sINFOstatic_transform_publisherfrom 'mj_world' to 'world'[0m ×3 + 13.25sINFOstatic_transform_publisherfrom 'map' to 'odom'[0m ×3 + 13.25sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 13.25sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 13.25sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 13.25sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 13.25sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 13.25sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861354 ms (missed cycles : 2).[0m + 13.34sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 13.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 13.39sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 13.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.39sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 13.46sINFOcomponent_container_mtRobot initialized[0m ×3 + 13.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 13.48sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 13.48sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 13.48sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 13.49sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 13.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 13.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.51sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 13.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 13.56sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 13.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 13.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 13.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 13.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 13.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 13.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 13.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 13.82sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 13.83sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 13.83sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 13.83sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×3 + 13.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 13.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 13.95sWARNscan_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 + 13.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 14.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 14.03sINFOmove_groupLoaded robot model in 0.285982 seconds[0m + 14.03sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 14.04sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.835831 ms (missed cycles : 5).[0m + 14.45sINFOwaypoint_manager_nodeLoaded robot model in 0.354818 seconds[0m + 14.45sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 14.46sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.49sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 14.49sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.75sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×9 + 14.89sWARNwaypoint_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 + 14.89sWARNwaypoint_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 + 14.90sWARNwaypoint_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 + 14.90sWARNwaypoint_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 + 14.90sWARNwaypoint_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 + 14.91sWARNwaypoint_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 + 14.91sWARNwaypoint_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 + 14.92sWARNwaypoint_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 + 14.92sWARNwaypoint_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 + 14.92sWARNwaypoint_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 + 14.92sWARNwaypoint_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 + 14.93sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.93sWARNwaypoint_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 + 14.93sWARNwaypoint_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 + 14.94sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.94sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.95sWARNwaypoint_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 + 14.95sWARNwaypoint_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 + 14.95sWARNwaypoint_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 + 14.95sWARNwaypoint_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 + 14.96sWARNwaypoint_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 + 14.96sWARNwaypoint_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 + 14.96sWARNwaypoint_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 + 14.96sWARNwaypoint_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 + 14.96sWARNwaypoint_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 + 14.97sWARNwaypoint_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 + 14.97sWARNwaypoint_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 + 14.97sWARNwaypoint_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 + 14.98sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 14.98sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 15.05sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 15.05sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 15.05sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 15.06sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.06sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 15.06sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 15.06sINFOmove_groupStarting planning scene monitor[0m ×3 + 15.06sINFOmove_groupListening to '/planning_scene'[0m ×3 + 15.06sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 15.06sINFOmove_groupListening to 'collision_object'[0m ×3 + 15.06sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 15.40sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 15.40sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.41sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 15.62sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 15.62sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 15.62sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 15.62sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 15.62sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 15.62sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 15.62sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 15.62sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 15.62sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 15.62sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 15.62sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 15.62sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 15.62sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 15.62sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 15.62sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 15.62sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 15.62sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 15.62sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 15.62sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 15.65sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761716 ms (missed cycles : 2).[0m + 15.76sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 15.76sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 15.90sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mtna80sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8j8yps4x --params-file /tmp/launch_params_w7hwxesg [0m + 15.92sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 15.92sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 15.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 15.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 16.12sINFOobjective_server_node[2026-06-29 14:52:28.961] [moveit_pro_license] [info] + 16.12sINFOobjective_server_node************************************************* ×8 + 16.12sINFOobjective_server_node* MoveIt Pro License ×4 + 16.12sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.20sINFOobjective_server_nodeLoaded robot model in 0.0285325 seconds[0m + 16.20sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 16.20sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.27sINFOros2_control_node[2026-06-29 14:52:29.111] [info] Controller state will be published at 20 Hz. + 16.27sINFOros2_control_node[2026-06-29 14:52:29.113] [info] JointVelocityController 'on_configure' succeeded. + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×3 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×3 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×3 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×3 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×3 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×3 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×3 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×3 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×3 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×3 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×3 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×3 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×3 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×3 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×3 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×3 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.33sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 16.35sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 16.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.53sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.55sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 16.57sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 16.57sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.57sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.57sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.57sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.58sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.58sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.58sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.58sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.59sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.59sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.65sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 16.65sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 16.65sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mtna80sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8j8yps4x --params-file /tmp/launch_params_w7hwxesg [0m + 16.68sINFOobjective_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 + 16.68sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 16.70sINFOros2-19process has finished cleanly [pid 9217] + 16.71sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 16.71sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 16.71sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 16.71sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 16.71sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 16.71sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 16.71sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 16.73sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 16.74sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 16.79sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 16.93sINFOcomponent_container_mtLoaded robot model in 0.39032 seconds[0m + 16.93sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 16.93sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781899 ms (missed cycles : 2).[0m + 17.07sINFOros2_control_node[2026-06-29 14:52:29.909] [info] Controller state will be published at 20 Hz. + 17.07sINFOros2_control_node[2026-06-29 14:52:29.910] [info] JointVelocityController 'on_configure' succeeded. + 17.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.35sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.35sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.35sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.35sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.35sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.36sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.36sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.36sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.36sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.36sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.36sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.36sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 17.45sINFOros2-18process has finished cleanly [pid 9216] + 17.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 17.46sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 17.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mtna80sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8j8yps4x --params-file /tmp/launch_params_w7hwxesg [0m + 17.53sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 17.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 17.54sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 17.54sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 17.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 17.54sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 17.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 17.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 17.75sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 17.75sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 17.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 17.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 17.78sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×3 + 17.87sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 17.87sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 17.87sINFOmove_groupTrajectory execution is managing controllers[0m ×3 + 17.88sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 17.89sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 17.89sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mtna80sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8j8yps4x --params-file /tmp/launch_params_w7hwxesg [0m + 17.90sINFOros2-15process has finished cleanly [pid 9213] + 17.94sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 17.95sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×3 + 17.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 17.97sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 17.98sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 17.98sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 17.98sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 17.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 17.99sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 17.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 17.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 17.99sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 17.99sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 18.03sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 18.03sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 18.03sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 18.03sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 18.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.971013 ms (missed cycles : 8).[0m + 18.04sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 18.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 18.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×3 + 18.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 18.20sINFOmove_group ×12 + 18.20sINFOmove_group******************************************************** ×6 + 18.20sINFOmove_group* MoveGroup using: ×3 + 18.20sINFOmove_group* - apply_planning_scene_service ×3 + 18.20sINFOmove_group* - clear_octomap_service ×3 + 18.20sINFOmove_group* - ExecuteTaskSolution ×3 + 18.20sINFOmove_group* - get_group_urdf ×3 + 18.20sINFOmove_group* - load_geometry_from_file ×3 + 18.20sINFOmove_group* - get_planning_scene_service ×3 + 18.20sINFOmove_group* - kinematics_service ×3 + 18.20sINFOmove_group* - save_geometry_to_file ×3 + 18.20sINFOmove_group* - GetPlanningGroups ×3 + 18.20sINFOmove_group* - SetActiveControllerService ×3 + 18.20sINFOmove_group* - URDFPlanningSceneCapability ×3 + 18.20sINFOmove_group[0m ×3 + 18.21sINFOmove_group[92mYou can start planning now![0m ×3 + 18.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.21sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.24sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 18.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×3 + 18.25sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 18.25sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 18.30sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 18.30sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 18.31sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mtna80sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8j8yps4x --params-file /tmp/launch_params_w7hwxesg [0m + 18.32sINFOros2-11process has finished cleanly [pid 9205] + 18.38sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 18.39sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 18.39sINFOros2_control_nodeconfigure successful[0m ×9 + 18.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 18.40sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 18.75sINFOros2-12process has finished cleanly [pid 9209] + 18.78sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 18.83sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 18.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 18.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 19.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mtna80sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8j8yps4x --params-file /tmp/launch_params_w7hwxesg [0m + 19.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 19.02sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 19.02sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 19.02sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 19.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362189 ms (missed cycles : 3).[0m + 19.04sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 19.35sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 19.35sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 19.35sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mtna80sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8j8yps4x --params-file /tmp/launch_params_w7hwxesg [0m + 19.41sINFOros2-13process has finished cleanly [pid 9211] + 19.43sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 19.43sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 19.44sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 19.45sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 19.80sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 19.80sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 19.80sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_mtna80sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8j8yps4x --params-file /tmp/launch_params_w7hwxesg [0m + 19.80sINFOros2-9process has finished cleanly [pid 9200] + 19.87sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 19.89sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908593 ms (missed cycles : 2).[0m + 20.25sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 20.25sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 20.29sINFOros2-14process has finished cleanly [pid 9212] + 20.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mtna80sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8j8yps4x --params-file /tmp/launch_params_w7hwxesg [0m + 20.42sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 20.42sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 20.79sINFOros2_control_node[2026-06-29 14:52:33.624] [warning] No force/torque sensor configured. The VFC will ignore force references. + 20.79sINFOros2_control_node[2026-06-29 14:52:33.627] [info] Controller state will be published at 10 Hz. + 20.79sINFOros2_control_node[2026-06-29 14:52:33.629] [info] VelocityForceController 'on_configure' succeeded. + 21.15sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 21.15sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 21.15sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mtna80sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8j8yps4x --params-file /tmp/launch_params_w7hwxesg [0m + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613157 ms (missed cycles : 2).[0m + 21.17sINFOros2-17process has finished cleanly [pid 9215] + 21.23sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 21.24sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 21.86sINFOros2_control_node[2026-06-29 14:52:34.696] [warning] No force/torque sensor configured. The VFC will ignore force references. + 21.86sINFOros2_control_node[2026-06-29 14:52:34.698] [info] Controller state will be published at 10 Hz. + 21.86sINFOros2_control_node[2026-06-29 14:52:34.699] [info] VelocityForceController 'on_configure' succeeded. + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862711 ms (missed cycles : 5).[0m + 22.23sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 22.23sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 22.23sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mtna80sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8j8yps4x --params-file /tmp/launch_params_w7hwxesg [0m + 22.25sINFOros2-16process has finished cleanly [pid 9214] + 22.31sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 22.31sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 22.32sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 22.32sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 22.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×30 + 22.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×30 + 22.65sINFOros2-10process has finished cleanly [pid 9201] + 23.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782744755.93661427 seconds. + 23.10sINFOmove_groupClearing octomap...[0m ×4 + 23.10sINFOmove_groupOctomap cleared.[0m ×4 + 23.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782744755.94704890 seconds + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947411 ms (missed cycles : 2).[0m + 23.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782744756.50734591 seconds. + 23.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782744756.51747394 seconds + 24.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782744757.06499863 seconds. + 24.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730829 ms (missed cycles : 2).[0m + 24.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782744757.21577406 seconds + 24.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782744757.78881884 seconds. + 24.98sINFOobjective_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 + 24.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 24.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 24.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 25.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 25.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782744757.86900258 seconds + 25.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820015 ms (missed cycles : 3).[0m + 25.58sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782744758.42212105 seconds. + 25.66sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m + 26.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510126 ms (missed cycles : 3).[0m + 26.55sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×4 + 26.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782744759.38259268 seconds + 27.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782744760.06074715 seconds. + 27.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×11 + 27.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m + 27.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m + 27.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m + 27.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266133 ms (missed cycles : 2).[0m + 28.27sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×7 + 28.28sINFOobjective_server_nodePlanning for 177 path waypoints. + 28.53sINFOros2_control_nodeReceived new action goal[0m ×17 + 28.53sINFOros2_control_nodeAccepted new action goal[0m ×17 + 28.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347463 ms (missed cycles : 4).[0m + 29.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385229 ms (missed cycles : 2).[0m + 30.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411946 ms (missed cycles : 3).[0m + 31.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665151 ms (missed cycles : 3).[0m + 32.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180681 ms (missed cycles : 2).[0m + 33.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912384 ms (missed cycles : 2).[0m + 34.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755591 ms (missed cycles : 4).[0m + 36.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342459 ms (missed cycles : 4).[0m + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974233 ms (missed cycles : 3).[0m + 38.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787320 ms (missed cycles : 3).[0m + 39.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243113 ms (missed cycles : 2).[0m + 40.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611001 ms (missed cycles : 3).[0m + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021459 ms (missed cycles : 3).[0m + 42.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470126 ms (missed cycles : 3).[0m + 43.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515184 ms (missed cycles : 2).[0m + 44.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784082 ms (missed cycles : 2).[0m + 45.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871881 ms (missed cycles : 3).[0m + 46.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503345 ms (missed cycles : 3).[0m + 47.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570575 ms (missed cycles : 5).[0m + 48.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643624 ms (missed cycles : 3).[0m + 49.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699286 ms (missed cycles : 3).[0m + 50.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476993 ms (missed cycles : 4).[0m + 51.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.012156 ms (missed cycles : 7).[0m + 52.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831532 ms (missed cycles : 2).[0m + 53.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238706 ms (missed cycles : 2).[0m + 54.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.259375 ms (missed cycles : 7).[0m + 56.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796556 ms (missed cycles : 3).[0m + 57.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182170 ms (missed cycles : 5).[0m + 58.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544957 ms (missed cycles : 6).[0m + 59.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811392 ms (missed cycles : 2).[0m + 60.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563368 ms (missed cycles : 3).[0m + 61.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.612646 ms (missed cycles : 6).[0m + 62.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661459 ms (missed cycles : 3).[0m + 63.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328835 ms (missed cycles : 2).[0m + 64.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854320 ms (missed cycles : 3).[0m + 65.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670927 ms (missed cycles : 3).[0m + 66.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.843404 ms (missed cycles : 5).[0m + 67.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.203488 ms (missed cycles : 6).[0m + 68.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697429 ms (missed cycles : 2).[0m + 69.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149016 ms (missed cycles : 4).[0m + 70.19sINFOros2_control_nodeGoal reached, success![0m ×16 + 70.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782744803.07966876 seconds + 70.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782744803.63191462 seconds. + 70.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393813 ms (missed cycles : 3).[0m + 71.76sINFOobjective_server_nodeFound path in 0 iterations (2.49e-05 s). + 71.76sINFOobjective_server_nodePath shortcutter: [X____X] + 71.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 71.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836000 ms (missed cycles : 5).[0m + 72.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.382648 ms (missed cycles : 4).[0m + 73.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782744806.72206879 seconds + 73.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766990 ms (missed cycles : 5).[0m + 74.44sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782744807.28035927 seconds. + 74.80sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 74.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.232336 ms (missed cycles : 4).[0m + 76.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.992127 ms (missed cycles : 5).[0m + 76.34sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 77.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413770 ms (missed cycles : 4).[0m + 78.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740331 ms (missed cycles : 3).[0m + 79.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365715 ms (missed cycles : 3).[0m + 80.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007940 ms (missed cycles : 5).[0m + 81.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998927 ms (missed cycles : 5).[0m + 82.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564856 ms (missed cycles : 3).[0m + 83.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947697 ms (missed cycles : 5).[0m + 84.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.957120 ms (missed cycles : 8).[0m + 85.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676721 ms (missed cycles : 3).[0m + 85.66sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m + 86.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408473 ms (missed cycles : 3).[0m + 87.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.249694 ms (missed cycles : 6).[0m + 88.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864340 ms (missed cycles : 3).[0m + 89.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.952986 ms (missed cycles : 5).[0m + 90.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149233 ms (missed cycles : 4).[0m + 91.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363109 ms (missed cycles : 3).[0m + 92.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458446 ms (missed cycles : 3).[0m + 93.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897549 ms (missed cycles : 3).[0m + 94.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.054584 ms (missed cycles : 5).[0m + 95.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752185 ms (missed cycles : 3).[0m + 96.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.966695 ms (missed cycles : 5).[0m + 97.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550319 ms (missed cycles : 3).[0m + 99.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.382713 ms (missed cycles : 6).[0m +100.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039517 ms (missed cycles : 4).[0m +101.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369264 ms (missed cycles : 4).[0m +102.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310585 ms (missed cycles : 4).[0m +103.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435057 ms (missed cycles : 4).[0m +104.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130021 ms (missed cycles : 2).[0m +105.12sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +105.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813769 ms (missed cycles : 3).[0m +106.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276489 ms (missed cycles : 4).[0m +107.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397335 ms (missed cycles : 6).[0m +108.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668156 ms (missed cycles : 2).[0m +109.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957384 ms (missed cycles : 3).[0m +110.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144738 ms (missed cycles : 2).[0m +111.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067325 ms (missed cycles : 3).[0m +112.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423876 ms (missed cycles : 3).[0m +113.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784294 ms (missed cycles : 3).[0m +114.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777191 ms (missed cycles : 3).[0m +115.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123884 ms (missed cycles : 2).[0m +116.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675834 ms (missed cycles : 2).[0m +117.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912753 ms (missed cycles : 3).[0m +118.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117823 ms (missed cycles : 2).[0m +119.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250599 ms (missed cycles : 4).[0m +120.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875559 ms (missed cycles : 2).[0m +122.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930916 ms (missed cycles : 3).[0m +123.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704563 ms (missed cycles : 3).[0m +124.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420986 ms (missed cycles : 3).[0m +125.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317857 ms (missed cycles : 2).[0m +126.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764855 ms (missed cycles : 3).[0m +127.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.573619 ms (missed cycles : 6).[0m +128.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217963 ms (missed cycles : 2).[0m +129.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.766388 ms (missed cycles : 6).[0m +130.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160008 ms (missed cycles : 4).[0m +130.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782744863.56052184 seconds +131.29sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782744864.12820601 seconds. +131.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.056157 ms (missed cycles : 8).[0m +131.65sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 +131.68sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +132.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091335 ms (missed cycles : 5).[0m +133.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.714048 ms (missed cycles : 6).[0m +134.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377511 ms (missed cycles : 5).[0m +135.41sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782744868.24837685 seconds +135.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.628197 ms (missed cycles : 7).[0m +136.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711000 ms (missed cycles : 3).[0m +136.96sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782744869.79917789 seconds. +137.33sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). +137.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074581 ms (missed cycles : 6).[0m +138.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494421 ms (missed cycles : 4).[0m +138.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +139.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110682 ms (missed cycles : 3).[0m +140.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753664 ms (missed cycles : 2).[0m +141.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757118 ms (missed cycles : 2).[0m +142.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816455 ms (missed cycles : 3).[0m +144.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823655 ms (missed cycles : 3).[0m +145.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352493 ms (missed cycles : 3).[0m +145.67sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m +146.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700624 ms (missed cycles : 3).[0m +147.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962536 ms (missed cycles : 4).[0m +148.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732517 ms (missed cycles : 3).[0m +149.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896487 ms (missed cycles : 2).[0m +150.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052478 ms (missed cycles : 5).[0m +151.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.296020 ms (missed cycles : 6).[0m +152.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974360 ms (missed cycles : 2).[0m +153.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.359947 ms (missed cycles : 7).[0m +154.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291046 ms (missed cycles : 3).[0m +155.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792808 ms (missed cycles : 3).[0m +156.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208323 ms (missed cycles : 4).[0m +157.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220153 ms (missed cycles : 2).[0m +158.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.063643 ms (missed cycles : 8).[0m +159.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841462 ms (missed cycles : 3).[0m +160.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841240 ms (missed cycles : 2).[0m +161.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.024634 ms (missed cycles : 5).[0m +162.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136118 ms (missed cycles : 2).[0m +164.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.844970 ms (missed cycles : 8).[0m +165.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.245600 ms (missed cycles : 5).[0m +166.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442256 ms (missed cycles : 2).[0m +167.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113749 ms (missed cycles : 3).[0m +167.33sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782744900.16934419 seconds +167.89sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782744900.72390652 seconds. +168.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693542 ms (missed cycles : 5).[0m +168.24sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). +169.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463195 ms (missed cycles : 3).[0m +169.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +170.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654388 ms (missed cycles : 3).[0m +171.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793676 ms (missed cycles : 5).[0m +172.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978708 ms (missed cycles : 2).[0m +173.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516507 ms (missed cycles : 2).[0m +174.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.312323 ms (missed cycles : 7).[0m +175.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917713 ms (missed cycles : 2).[0m +176.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.745797 ms (missed cycles : 6).[0m +177.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767689 ms (missed cycles : 3).[0m +178.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988371 ms (missed cycles : 2).[0m +179.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431334 ms (missed cycles : 2).[0m +180.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342710 ms (missed cycles : 5).[0m +181.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.005171 ms (missed cycles : 5).[0m +182.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.564784 ms (missed cycles : 4).[0m +183.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027199 ms (missed cycles : 4).[0m +184.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974139 ms (missed cycles : 4).[0m +185.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502694 ms (missed cycles : 5).[0m +186.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214920 ms (missed cycles : 3).[0m +187.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.676946 ms (missed cycles : 6).[0m +189.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862244 ms (missed cycles : 3).[0m +190.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346358 ms (missed cycles : 4).[0m +191.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692882 ms (missed cycles : 3).[0m +192.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665916 ms (missed cycles : 3).[0m +193.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789385 ms (missed cycles : 3).[0m +194.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.542527 ms (missed cycles : 6).[0m +195.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377585 ms (missed cycles : 3).[0m +196.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.922991 ms (missed cycles : 5).[0m +197.31sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +197.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282219 ms (missed cycles : 2).[0m +197.88sINFOobjective_server_nodePlanning for 52 path waypoints. +198.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918432 ms (missed cycles : 2).[0m +199.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873495 ms (missed cycles : 2).[0m +200.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128669 ms (missed cycles : 2).[0m +201.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752679 ms (missed cycles : 4).[0m +202.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.983904 ms (missed cycles : 8).[0m +203.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011446 ms (missed cycles : 3).[0m +204.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261093 ms (missed cycles : 3).[0m +205.67sINFOros2_control_nodeMuJoCo sim: 0.89% of iterations over time budget. Below 1% expected for non-realtime.[0m +205.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704185 ms (missed cycles : 3).[0m +206.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927610 ms (missed cycles : 2).[0m +207.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293396 ms (missed cycles : 4).[0m +208.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.082886 ms (missed cycles : 6).[0m +209.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518587 ms (missed cycles : 3).[0m +211.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413429 ms (missed cycles : 4).[0m +212.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.732911 ms (missed cycles : 6).[0m +213.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355366 ms (missed cycles : 3).[0m +214.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730751 ms (missed cycles : 2).[0m +215.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255220 ms (missed cycles : 2).[0m +216.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636247 ms (missed cycles : 4).[0m +217.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085104 ms (missed cycles : 2).[0m +218.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792686 ms (missed cycles : 3).[0m +219.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019697 ms (missed cycles : 5).[0m +220.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676013 ms (missed cycles : 2).[0m +220.60sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782744953.43406248 seconds +221.15sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782744953.98890257 seconds. +221.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637815 ms (missed cycles : 3).[0m +221.51sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). +222.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610678 ms (missed cycles : 2).[0m +222.85sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] +223.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827877 ms (missed cycles : 3).[0m +224.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350957 ms (missed cycles : 4).[0m +225.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234836 ms (missed cycles : 2).[0m +226.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469052 ms (missed cycles : 2).[0m +227.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333424 ms (missed cycles : 2).[0m +228.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.701365 ms (missed cycles : 6).[0m +229.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.825945 ms (missed cycles : 6).[0m +230.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849731 ms (missed cycles : 2).[0m +231.22sINFOros2_control_nodeGot request to cancel goal[0m +231.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +231.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782744964.09233499 seconds +231.81sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782744964.65015221 seconds. +231.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635934 ms (missed cycles : 3).[0m +232.17sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). +232.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096668 ms (missed cycles : 2).[0m +233.50sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 +233.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480910 ms (missed cycles : 4).[0m +234.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969814 ms (missed cycles : 3).[0m +235.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983424 ms (missed cycles : 2).[0m +237.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002877 ms (missed cycles : 2).[0m +238.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.222137 ms (missed cycles : 6).[0m +239.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065863 ms (missed cycles : 2).[0m +240.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.820720 ms (missed cycles : 6).[0m +241.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.454209 ms (missed cycles : 7).[0m +242.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928485 ms (missed cycles : 2).[0m +243.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612634 ms (missed cycles : 4).[0m +244.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898037 ms (missed cycles : 2).[0m +245.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691814 ms (missed cycles : 5).[0m +246.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603871 ms (missed cycles : 3).[0m +247.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188567 ms (missed cycles : 4).[0m +248.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637988 ms (missed cycles : 6).[0m +249.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.930517 ms (missed cycles : 6).[0m +250.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472171 ms (missed cycles : 2).[0m +251.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878645 ms (missed cycles : 3).[0m +252.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868230 ms (missed cycles : 3).[0m +253.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.739108 ms (missed cycles : 4).[0m +254.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337424 ms (missed cycles : 2).[0m +255.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899879 ms (missed cycles : 2).[0m +256.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.721893 ms (missed cycles : 4).[0m +257.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.172296 ms (missed cycles : 5).[0m +258.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135487 ms (missed cycles : 5).[0m +259.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067010 ms (missed cycles : 3).[0m +260.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901995 ms (missed cycles : 2).[0m +261.73sINFOobjective_server_nodePlanning for 33 path waypoints. +261.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906831 ms (missed cycles : 4).[0m +262.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864701 ms (missed cycles : 4).[0m +264.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088797 ms (missed cycles : 2).[0m +265.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437643 ms (missed cycles : 4).[0m +265.68sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +266.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.516345 ms (missed cycles : 6).[0m +267.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959461 ms (missed cycles : 3).[0m +268.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225823 ms (missed cycles : 5).[0m +269.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887151 ms (missed cycles : 3).[0m +270.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739300 ms (missed cycles : 3).[0m +271.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840471 ms (missed cycles : 3).[0m +272.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860383 ms (missed cycles : 2).[0m +273.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166007 ms (missed cycles : 5).[0m +274.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872904 ms (missed cycles : 2).[0m +275.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559283 ms (missed cycles : 4).[0m +276.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829665 ms (missed cycles : 4).[0m +277.50sINFOobjective_server_nodePlanning for 41 path waypoints. +277.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420545 ms (missed cycles : 3).[0m +278.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806795 ms (missed cycles : 2).[0m +279.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.638690 ms (missed cycles : 4).[0m +281.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190922 ms (missed cycles : 4).[0m +282.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257779 ms (missed cycles : 2).[0m +283.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075917 ms (missed cycles : 3).[0m +284.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.504638 ms (missed cycles : 7).[0m +285.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432560 ms (missed cycles : 4).[0m +286.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458415 ms (missed cycles : 4).[0m +287.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973801 ms (missed cycles : 2).[0m +288.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316972 ms (missed cycles : 2).[0m +289.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258657 ms (missed cycles : 5).[0m +290.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998565 ms (missed cycles : 2).[0m +290.49sINFOobjective_server_nodePlanning for 34 path waypoints. +291.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050659 ms (missed cycles : 2).[0m +292.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060140 ms (missed cycles : 4).[0m +293.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946746 ms (missed cycles : 6).[0m +294.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.804557 ms (missed cycles : 6).[0m +295.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.834633 ms (missed cycles : 9).[0m +296.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540724 ms (missed cycles : 3).[0m +297.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085387 ms (missed cycles : 2).[0m +298.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.768402 ms (missed cycles : 6).[0m +299.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.175349 ms (missed cycles : 8).[0m +300.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003089 ms (missed cycles : 3).[0m +301.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845989 ms (missed cycles : 2).[0m +302.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690067 ms (missed cycles : 3).[0m +304.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879207 ms (missed cycles : 4).[0m +304.50sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782745037.34051132 seconds +305.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409097 ms (missed cycles : 2).[0m +305.07sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782745037.90825415 seconds. +305.48sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). +306.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621954 ms (missed cycles : 2).[0m +307.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757018 ms (missed cycles : 4).[0m +308.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157658 ms (missed cycles : 2).[0m +309.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711708 ms (missed cycles : 2).[0m +310.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811892 ms (missed cycles : 2).[0m +311.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532228 ms (missed cycles : 3).[0m +312.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175106 ms (missed cycles : 2).[0m +313.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982441 ms (missed cycles : 3).[0m +314.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183275 ms (missed cycles : 2).[0m +315.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.021957 ms (missed cycles : 5).[0m +316.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.914546 ms (missed cycles : 5).[0m +317.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144844 ms (missed cycles : 4).[0m +318.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460086 ms (missed cycles : 3).[0m +319.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513279 ms (missed cycles : 4).[0m +320.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630225 ms (missed cycles : 2).[0m +321.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823604 ms (missed cycles : 3).[0m +322.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741513 ms (missed cycles : 3).[0m +323.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898273 ms (missed cycles : 3).[0m +325.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702796 ms (missed cycles : 4).[0m +325.69sINFOros2_control_nodeMuJoCo sim: 1.11% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +326.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764521 ms (missed cycles : 2).[0m +327.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727823 ms (missed cycles : 2).[0m +328.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396645 ms (missed cycles : 3).[0m +329.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.788776 ms (missed cycles : 6).[0m +330.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395031 ms (missed cycles : 5).[0m +331.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584130 ms (missed cycles : 3).[0m +332.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517676 ms (missed cycles : 4).[0m +333.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.802683 ms (missed cycles : 6).[0m +334.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671164 ms (missed cycles : 3).[0m +335.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194169 ms (missed cycles : 5).[0m +336.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546545 ms (missed cycles : 2).[0m +337.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133359 ms (missed cycles : 2).[0m +338.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165763 ms (missed cycles : 5).[0m +339.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668723 ms (missed cycles : 3).[0m +340.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929424 ms (missed cycles : 2).[0m +341.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721382 ms (missed cycles : 2).[0m +342.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.803486 ms (missed cycles : 6).[0m +343.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845800 ms (missed cycles : 3).[0m +344.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.832933 ms (missed cycles : 6).[0m +345.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851657 ms (missed cycles : 3).[0m +346.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.792011 ms (missed cycles : 6).[0m +347.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299430 ms (missed cycles : 2).[0m +348.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800097 ms (missed cycles : 3).[0m +349.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864209 ms (missed cycles : 3).[0m +350.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257494 ms (missed cycles : 5).[0m +351.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947391 ms (missed cycles : 3).[0m +352.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806863 ms (missed cycles : 6).[0m +353.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751716 ms (missed cycles : 4).[0m +354.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005190 ms (missed cycles : 2).[0m +356.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.482251 ms (missed cycles : 4).[0m +357.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412207 ms (missed cycles : 3).[0m +358.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337672 ms (missed cycles : 3).[0m +359.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808848 ms (missed cycles : 6).[0m +360.05sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782745092.88848615 seconds +360.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200376 ms (missed cycles : 4).[0m +360.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782745093.45946527 seconds. +360.95sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). +361.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423869 ms (missed cycles : 3).[0m +362.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801571 ms (missed cycles : 3).[0m +363.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935736 ms (missed cycles : 3).[0m +364.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620322 ms (missed cycles : 2).[0m +365.15sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). +365.18sINFOobjective_server_nodePath shortcutter: [X__________________X] +365.24sINFOobjective_server_nodePath shortcutter: [X____________________X] +365.27sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). +365.32sINFOobjective_server_nodePath shortcutter: [X_________________________X] +365.36sINFOobjective_server_nodeFound path in 0 iterations (1e-06 s). +365.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926971 ms (missed cycles : 4).[0m +365.53sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +365.58sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). +365.83sINFOobjective_server_nodeFound path in 69 iterations (0.0465101 s). +366.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] +366.08sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). +366.43sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +366.48sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). +366.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775030 ms (missed cycles : 2).[0m +366.80sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +366.84sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +367.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150950 ms (missed cycles : 2).[0m +368.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916427 ms (missed cycles : 3).[0m +369.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689843 ms (missed cycles : 3).[0m +370.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832640 ms (missed cycles : 3).[0m +371.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793748 ms (missed cycles : 3).[0m +372.84sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782745105.67657876 seconds +372.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034472 ms (missed cycles : 2).[0m +373.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782745106.27919292 seconds. +373.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050461 ms (missed cycles : 5).[0m +373.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782745106.82934260 seconds +374.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782745107.38454485 seconds. +374.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686263 ms (missed cycles : 4).[0m +375.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782745107.85480952 seconds +375.25sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +376.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859140 ms (missed cycles : 3).[0m +377.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968322 ms (missed cycles : 2).[0m +378.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215463 ms (missed cycles : 2).[0m +379.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174955 ms (missed cycles : 2).[0m +380.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729273 ms (missed cycles : 2).[0m +380.69sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.69sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.70sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.70sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.70sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.71sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.71sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.72sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] +380.74sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.74sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.74sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.75sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.75sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] +380.77sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.77sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.78sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.78sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.79sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.79sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.80sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.80sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.80sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +380.80sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] +380.82sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] +380.84sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] +380.86sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +380.88sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] +380.89sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +380.90sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] +380.92sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] +380.94sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] +380.96sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] +380.97sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +380.98sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] +381.01sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] +381.02sINFOweb_video_server-31process has finished cleanly [pid 9268] +381.02sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9266] +381.03sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +381.05sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +381.05sERRORmove_group-20process has died [pid 9218, 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_ohlspnsg --params-file /tmp/launch_params_a4gcbbh5 --params-file /tmp/launch_params_rok1rfh1 --params-file /tmp/launch_params_kitv05oz --params-file /tmp/launch_params_eco36bs2 --params-file /tmp/launch_params_j6xftf0a --params-file /tmp/launch_params_brkf4tgu --params-file /tmp/launch_params_hq8bxmd7 --params-file /tmp/launch_params_jswzopad']. +381.07sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +381.09sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +381.10sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +381.12sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +381.14sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +381.14sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +381.14sERRORui_teleop_bridgeTraceback (most recent call last): +381.14sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +381.14sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +381.14sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +381.14sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main +381.14sINFOui_teleop_bridgerclpy.shutdown() +381.14sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +381.14sINFOui_teleop_bridge_shutdown(context=context) +381.14sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +381.14sINFOui_teleop_bridgecontext.shutdown() +381.14sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +381.14sINFOui_teleop_bridgeself.__context.shutdown() +381.14sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +381.14sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m +381.14sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +381.14sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +381.14sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +381.14sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +381.14sINFOcomponent_container_mtStopping planning scene monitor[0m +381.14sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +381.14sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +381.14sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +381.14sERRORmove_groupwhat(): context cannot be slept with because it's invalid +381.14sERRORmove_groupStack trace (most recent call last) in thread 9775: +381.15sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system +381.15sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +381.15sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5eeb7e3a63, in __clone +381.15sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5eeb756aa3, in +381.15sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5eeb9e8db3, in +381.15sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f5eec03d1c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +381.15sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5eebd5b4d0, in rclcpp::Rate::sleep() +381.15sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5eebcaea88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +381.15sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5eebc73a71, in +381.15sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5eeb9b7390, in __cxa_throw +381.15sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5eeb9a1a54, in std::terminate() +381.15sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5eeb9b70d9, in +381.15sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5eeb9a1ff4, in +381.15sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5eeb6e28fe, in abort +381.15sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5eeb6ff27d, in raise +381.15sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5eeb758b2c, in pthread_kill +381.15sERRORmove_groupAborted (Signal sent by tkill() 9218 0) +381.15sINFOobjective_server_node[2026-06-29 14:58:33.850] [moveit_pro_license] [info] +381.15sINFOobjective_server_node* Application has successfully terminated +381.15sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +381.15sINFOros2_control_nodeShutdown request received....[0m +381.15sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +381.15sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +381.15sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +381.15sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +381.15sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +381.15sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +381.15sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +381.15sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +381.15sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +381.15sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +381.15sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +381.15sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +381.15sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +381.15sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +381.15sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +381.15sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +381.15sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +381.15sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +381.15sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +381.15sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +381.15sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +381.15sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +381.15sINFOros2_control_nodeShutting down the controller manager.[0m +381.15sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +381.15sERRORobjective_server_nodeStack trace (most recent call last): +381.15sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +381.16sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e10f03f6a4, in _start +381.16sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f339d04d28a, in __libc_start_main +381.16sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f339d04d1d0, in +381.16sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f339d06abbd, in exit +381.16sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f339d06aa75, in +381.16sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f339d53c4a2, in spdlog::details::registry::~registry() +381.16sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f339d54769d, 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() +381.16sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f339d541965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +381.16sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e10f046315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +381.16sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e10f0455a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +381.16sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e10f041b7b, in spdlog_ros::RosSink::~RosSink() +381.16sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e10f03fd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +381.16sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f339dbe3454, in rclcpp::Node::~Node() +381.16sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f339db9e515, in +381.16sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f339dbe1d20, in +381.16sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f339dbe1c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +381.16sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f339db9e5d9, in +381.16sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f339dba3161, in rclcpp::CallbackGroup::~CallbackGroup() +381.16sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f3348e38120]) +381.16sERRORodom_qos_relay.pyTraceback (most recent call last): +381.16sINFOodom_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> +381.16sINFOodom_qos_relay.pymain() +381.16sINFOodom_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 +381.16sINFOodom_qos_relay.pyrclpy.spin(node) +381.16sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +381.16sINFOodom_qos_relay.pyexecutor.spin_once() +381.16sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +381.16sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +381.16sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +381.16sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +381.16sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +381.16sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +381.16sINFOodom_qos_relay.pyreturn next(self._cb_iter) +381.16sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +381.16sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +381.16sINFOodom_qos_relay.pyraise ExternalShutdownException() +381.16sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +381.16sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×3 +381.16sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +381.17sERRORobjective_server_node_main-25process has died [pid 9245, 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_rwxm1r59 --params-file /tmp/launch_params_wd_14gp1 --params-file /tmp/launch_params_dbeh9m68 --params-file /tmp/launch_params_ah4abep4 --params-file /tmp/launch_params_qb1zp7bz --params-file /tmp/launch_params_t7htlyou --params-file /tmp/launch_params_elb2ggo2 --params-file /tmp/launch_params_wkzzvbiw --params-file /tmp/launch_params_me0c4tc5']. +381.17sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system +381.23sINFOros2_control_nodeAsync messages lost 0[0m ×2 +381.23sINFOros2_control_nodepublish_async_failures_ 2[0m +381.24sINFOros2_control_nodepublish_async_failures_ 0[0m +381.95sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9244] +381.95sERRORui_teleop_bridge-28process has died [pid 9264, 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_w27bdxb0']. +381.97sINFOexecute_objective_bridge-27process has finished cleanly [pid 9247] +381.97sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9221] +382.02sINFOparameter_manager_node-21process has finished cleanly [pid 9219] +382.05sINFOwaypoint_manager_node-22process has finished cleanly [pid 9220] +382.08sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9128] +382.09sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9127] +382.12sINFOstatic_transform_publisher-4process has finished cleanly [pid 9125] +382.15sINFOstatic_transform_publisher-3process has finished cleanly [pid 9124] +382.16sINFOstatic_transform_publisher-2process has finished cleanly [pid 9123] +382.16sERRORodom_qos_relay.py-5process has died [pid 9126, 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']. +383.16sINFOcomponent_container_mt-26process has finished cleanly [pid 9246] +383.61sINFOweb_bridge-29process has finished cleanly [pid 9265] +383.61sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system +383.83sINFOros2_control_node-8process has finished cleanly [pid 9129] +385.69sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +385.71sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] +385.72sERRORcomponent_container_isolated-1process has died [pid 9122, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_oy4ysr1v --params-file /tmp/launch_params_2j7gwwy4 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +393.49sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-29-14-58-43-109878-1a4c41c5ce68-10110 ×2 +406.36sINFOstatic_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' +406.36sINFOstatic_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' +406.36sINFOstatic_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' +406.47sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +406.49sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +406.50sINFOcontroller_managerupdate rate is 600 Hz +406.50sINFOcontroller_managerOverruns handling is : enabled +406.50sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +406.50sWARNcontroller_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. +406.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +406.59sINFOros2_control_node-8process started with pid [10166] ×2 +406.59sINFOmove_group-20process started with pid [10255] ×2 +406.59sINFOparameter_manager_node-21process started with pid [10256] ×2 +406.59sINFOwaypoint_manager_node-22process started with pid [10257] ×2 +406.59sINFOmove_joint_resampler_node-23process started with pid [10258] ×2 +406.59sINFOmove_end_effector_resampler_node-24process started with pid [10316] ×2 +406.60sINFOobjective_server_node_main-25process started with pid [10317] ×2 +406.60sINFOcomponent_container_mt-26process started with pid [10318] ×2 +406.60sINFOexecute_objective_bridge-27process started with pid [10321] ×2 +406.60sINFOui_teleop_bridge-28process started with pid [10322] ×2 +406.60sINFOweb_bridge-29process started with pid [10323] ×2 +406.60sINFOtf2_web_republisher_node-30process started with pid [10324] ×2 +406.60sINFOweb_video_server-31process started with pid [10325] ×2 +406.62sINFOcomponent_container_isolated-1process started with pid [10159] ×2 +406.62sINFOstatic_transform_publisher-2process started with pid [10160] ×2 +406.62sINFOstatic_transform_publisher-3process started with pid [10161] ×2 +406.62sINFOstatic_transform_publisher-4process started with pid [10162] ×2 +406.62sINFOodom_qos_relay.py-5process started with pid [10163] ×2 +406.62sINFOscan_to_scan_filter_chain-6process started with pid [10164] ×2 +406.62sINFOscan_to_scan_filter_chain-7process started with pid [10165] ×2 +406.62sINFOros2-9process started with pid [10244] ×2 +406.62sINFOros2-10process started with pid [10245] ×2 +406.62sINFOros2-11process started with pid [10246] ×2 +406.62sINFOros2-12process started with pid [10247] ×2 +406.62sINFOros2-13process started with pid [10248] ×2 +406.62sINFOros2-14process started with pid [10249] ×2 +406.62sINFOros2-15process started with pid [10250] ×2 +406.62sINFOros2-16process started with pid [10251] ×2 +406.62sINFOros2-17process started with pid [10252] ×2 +406.62sINFOros2-18process started with pid [10253] ×2 +406.62sINFOros2-19process started with pid [10254] ×2 +406.68sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +406.68sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +406.68sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +406.68sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +406.73sINFOmap_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. +406.73sINFOmap_serverCreating +406.73sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +406.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +406.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +406.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +406.78sINFOcontroller_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. +406.80sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +406.83sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +406.84sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +406.88sINFOcontroller_serverCreating controller server +406.92sINFOlocal_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. +406.92sINFOlocal_costmap.local_costmapCreating Costmap +406.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345343 ms (missed cycles : 3). +406.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345343 ms (missed cycles : 3).[0m ×2 +406.93sINFOrobot_state_publisherRobot initialized +406.93sINFOcontroller_managerReceived robot description from topic. +406.93sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +406.95sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +406.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +406.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +406.96sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +406.97sINFOlifecycle_manager_localizationCreating +406.97sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +406.99sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +406.99sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +406.99sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +406.99sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +406.99sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +406.99sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +407.00sINFOmap_serverConfiguring +407.01sINFOsmoother_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. +407.03sINFOsmoother_serverCreating smoother server +407.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +407.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +407.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +407.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +407.05sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +407.08sINFOplanner_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. +407.08sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +407.08sINFOmap_serverActivating +407.08sINFOmap_serverCreating bond (map_server) to lifecycle manager. +407.10sINFOplanner_serverCreating +407.11sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +407.13sINFOglobal_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. +407.14sINFOglobal_costmap.global_costmapCreating Costmap +407.17sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +407.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +407.17sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +407.18sINFOlifecycle_manager_localizationServer map_server connected with bond. +407.18sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +407.18sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +407.19sINFObehavior_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. +407.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +407.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +407.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +407.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +407.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +407.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +407.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +407.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +407.27sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +407.27sINFObt_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. +407.27sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +407.27sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +407.27sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +407.31sINFObt_navigatorCreating +407.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +407.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +407.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +407.33sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.464743 seconds +407.33sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +407.33sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +407.33sINFOmove_groupLoaded robot model in 0.464743 seconds[0m ×2 +407.35sINFOwaypoint_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. +407.36sINFOwaypoint_followerCreating +407.37sWARNlaser_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. +407.38sWARNlaser_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. +407.38sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +407.38sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +407.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +407.41sINFOvelocity_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. +407.44sINFOlifecycle_manager_navigationCreating +407.45sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +407.48sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +407.48sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +407.48sINFOcontroller_serverConfiguring controller interface +407.48sINFOcontroller_servergetting progress checker plugins.. +407.48sINFOcontroller_servergetting goal checker plugins.. +407.49sINFOcontroller_serverController frequency set to 20.0000Hz +407.49sINFOlocal_costmap.local_costmapConfiguring +407.50sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +407.55sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +407.62sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +407.62sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +407.62sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +407.67sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +407.68sINFOcontroller_serverController Server has progress_checker progress checkers available. +407.68sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +407.68sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +407.69sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +407.72sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +407.73sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +407.73sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +407.75sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +407.75sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +407.75sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +407.75sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +407.76sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +407.76sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +407.77sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +407.77sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +407.77sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +407.79sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +407.79sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +407.79sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +407.79sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +407.79sINFOcontroller_serverOptimizer reset +407.81sINFOcontroller_serverController Server has FollowPath controllers available. +407.84sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +407.84sINFOsmoother_serverConfiguring smoother server +407.85sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +407.87sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +407.88sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +407.88sINFOplanner_serverConfiguring +407.88sINFOglobal_costmap.global_costmapConfiguring +407.89sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +407.90sINFOwaypoint_manager_nodeLoaded robot model in 0.409347 seconds[0m ×2 +407.91sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +407.92sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +407.92sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +407.93sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +407.98sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +407.98sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +407.99sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +408.02sFATALplanner_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 +408.02sINFOplanner_serverCleaning up +408.02sINFOglobal_costmap.global_costmapCleaning up +408.03sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +408.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.780348 ms (missed cycles : 6). +408.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.780348 ms (missed cycles : 6).[0m ×2 +408.22sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +408.23sWARNmove_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. +408.24sWARNmove_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. +408.25sWARNmove_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. +408.25sWARNmove_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. +408.25sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +408.26sWARNmove_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. +408.27sWARNmove_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. +408.28sWARNmove_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. +408.28sWARNmove_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. +408.31sWARNmove_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. +408.31sWARNmove_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. +408.49sWARNwaypoint_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. +408.49sWARNwaypoint_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. +408.49sWARNwaypoint_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. +408.49sWARNwaypoint_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. +408.49sWARNwaypoint_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. +408.49sWARNwaypoint_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. +408.49sWARNwaypoint_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. +408.50sWARNwaypoint_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. +408.50sWARNwaypoint_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. +408.50sWARNwaypoint_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. +408.50sWARNwaypoint_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. +408.50sWARNwaypoint_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. +408.50sWARNwaypoint_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. +408.50sWARNwaypoint_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. +408.51sWARNwaypoint_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. +408.51sWARNwaypoint_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. +408.51sWARNwaypoint_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. +408.51sWARNwaypoint_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. +408.51sWARNwaypoint_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. +408.51sWARNwaypoint_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. +408.51sWARNwaypoint_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. +408.52sWARNwaypoint_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. +408.52sWARNwaypoint_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. +408.52sWARNwaypoint_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. +408.52sWARNwaypoint_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. +408.52sWARNwaypoint_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. +408.52sWARNwaypoint_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. +408.52sWARNwaypoint_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. +408.59sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +408.59sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +408.82sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +408.82sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +408.83sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +408.83sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +408.83sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +408.83sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +408.83sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +408.84sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +408.84sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +408.84sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +408.84sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +409.22sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +409.22sINFOcontroller_managerActivating component 'ur_mujoco_control'. +409.22sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +409.22sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +409.25sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +409.25sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +409.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700053 ms (missed cycles : 2). +409.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700053 ms (missed cycles : 2).[0m ×2 +409.27sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +409.27sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +409.29sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w +409.29sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 +409.32sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +409.32sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +409.33sINFOforce_torque_sensor_broadcasterconfigure successful +409.33sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +409.33sINFOcontroller_managerSuccessfully switched controllers! ×7 +409.34sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +409.64sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +409.64sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +409.64sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w +409.65sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 +409.65sINFOros2-9process has finished cleanly [pid 10244] ×2 +409.68sINFOobjective_server_node[2026-06-29 14:59:02.522] [moveit_pro_license] [info] ×2 +409.70sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +409.71sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +409.71sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +409.71sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +409.71sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +409.72sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +409.73sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +409.78sINFOobjective_server_nodeLoaded robot model in 0.027142 seconds[0m ×2 +409.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +409.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +409.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +409.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +409.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +409.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +409.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +409.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +409.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +409.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +409.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +409.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +409.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +409.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +409.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +409.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +409.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +409.79sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +409.81sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +410.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +410.03sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +410.07sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +410.07sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +410.07sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w +410.07sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 +410.14sINFOros2-11process has finished cleanly [pid 10246] ×2 +410.18sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +410.18sWARNobjective_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. +410.18sWARNobjective_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. +410.18sWARNobjective_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. +410.18sWARNobjective_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. +410.18sWARNobjective_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. +410.18sWARNobjective_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. +410.18sWARNobjective_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. +410.18sWARNobjective_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. +410.19sWARNobjective_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. +410.19sWARNobjective_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. +410.21sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +410.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +410.21sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +410.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +410.22sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +410.22sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +410.23sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +410.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016736 ms (missed cycles : 5). +410.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016736 ms (missed cycles : 5).[0m ×2 +410.36sINFOcomponent_container_mtLoaded robot model in 0.314184 seconds[0m ×2 +410.52sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +410.52sINFOcontroller_managerLoading controller 'platform_velocity_controller' +410.53sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w +410.53sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 +410.59sINFOros2-15process has finished cleanly [pid 10250] ×2 +410.62sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +410.64sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +410.64sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +410.65sINFOplatform_velocity_controllerconfigure successful +410.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +410.66sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +410.77sWARNplanning_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. +410.77sWARNplanning_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. +410.77sWARNplanning_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. +410.77sWARNplanning_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. +410.77sWARNplanning_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. +410.77sWARNplanning_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. +410.77sWARNplanning_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. +410.77sWARNplanning_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. +410.77sWARNplanning_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. +410.77sWARNplanning_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. +410.77sWARNplanning_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. +410.77sWARNplanning_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. +410.77sWARNplanning_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. +410.77sWARNplanning_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. +410.77sWARNplanning_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. +410.77sWARNplanning_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. +410.78sWARNplanning_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. +410.78sWARNplanning_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. +410.78sWARNplanning_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. +410.78sWARNplanning_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. +410.78sWARNplanning_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. +410.78sWARNplanning_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. +410.78sWARNplanning_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. +410.78sWARNplanning_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. +410.78sWARNplanning_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. +410.78sWARNplanning_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. +410.78sWARNplanning_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. +410.78sWARNplanning_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. +411.00sINFOros2-12process has finished cleanly [pid 10247] ×2 +411.01sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +411.27sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +411.27sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +411.27sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w +411.27sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 +411.31sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +411.31sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +411.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917601 ms (missed cycles : 2). +411.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917601 ms (missed cycles : 2).[0m ×2 +411.32sINFOplatform_velocity_controller_nav2configure successful +411.46sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds +411.52sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers +411.52sINFOmove_groupMoveGroup debug mode is ON +411.62sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +411.63sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +411.63sINFOstreaming_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) +411.65sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +411.65sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +411.65sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w +411.65sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 +411.65sINFOros2-14process has finished cleanly [pid 10249] ×2 +411.72sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +411.72sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +411.74sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +411.75sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +411.85sINFOmove_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
********************************************************
+412.09sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +412.09sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +412.12sINFOros2-10process has finished cleanly [pid 10245] ×2 +412.24sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w +412.24sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 +412.31sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +412.31sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +412.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621918 ms (missed cycles : 3). +412.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621918 ms (missed cycles : 3).[0m ×2 +412.70sINFOros2_control_node[2026-06-29 14:59:05.536] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +412.71sINFOros2_control_node[2026-06-29 14:59:05.541] [info] Controller state will be published at 10 Hz. ×2 +412.71sINFOros2_control_node[2026-06-29 14:59:05.545] [info] VelocityForceController 'on_configure' succeeded. ×2 +413.06sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +413.06sINFOcontroller_managerLoading controller 'vacuum_gripper' +413.07sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w +413.07sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 +413.09sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +413.10sINFOros2-17process has finished cleanly [pid 10252] ×2 +413.14sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +413.14sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +413.14sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +413.14sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +413.15sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +413.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186325 ms (missed cycles : 3). +413.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186325 ms (missed cycles : 3).[0m ×2 +413.50sINFOros2-13process has finished cleanly [pid 10248] ×2 +413.54sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +413.80sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +413.80sINFOcontroller_managerLoading controller 'velocity_force_controller' +413.80sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w +413.80sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 +413.83sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +413.83sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +414.20sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +414.20sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 +414.20sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 +414.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). +414.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 +414.56sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +414.56sINFOcontroller_managerLoading controller 'joint_velocity_controller' +414.58sINFOros2-16process has finished cleanly [pid 10251] ×2 +414.66sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w +414.66sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 +414.73sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +414.73sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +415.12sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 +415.12sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 +415.48sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +415.48sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +415.48sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w +415.49sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 +415.49sINFOros2-18process has finished cleanly [pid 10253] ×2 +415.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). +415.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 +415.55sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +415.56sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +415.95sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 +415.95sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 +416.28sINFOros2-19process has finished cleanly [pid 10254] ×2 +416.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). +416.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 +416.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 +416.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +416.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +416.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 +417.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 +417.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 +417.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). +417.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 +417.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 +417.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 +418.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 +418.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +418.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +418.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +418.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +418.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +418.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +418.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 +418.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). +418.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 +419.08sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 +419.26sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +419.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). +419.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 +419.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 6 errors · 21 warnings · 192 info |
+ 0.00sINFOros2-13process has finished cleanly [pid 10248] ×2 + 0.04sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.04sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.30sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.30sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.30sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.30sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.30sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.30sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.32sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.33sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.33sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.33sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.70sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.70sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.06sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.07sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.07sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2-16process has finished cleanly [pid 10251] ×2 + 1.15sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.15sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.23sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.23sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.23sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.23sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.62sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 1.62sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.98sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.98sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.98sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.98sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.98sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.99sINFOros2-18process has finished cleanly [pid 10253] ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 2.05sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 2.05sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 2.06sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.06sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.44sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 2.45sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.78sINFOros2-19process has finished cleanly [pid 10254] ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.08sINFOmove_groupClearing octomap...[0m ×2 + 3.08sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.97sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 6.28sERRORobjective_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 + 6.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 6 errors · 24 warnings · 203 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_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.03sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-17process has finished cleanly [pid 10252] ×2 + 0.07sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.07sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.08sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.08sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.09sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.09sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186325 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186325 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2-13process has finished cleanly [pid 10248] ×2 + 0.48sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.76sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.78sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.50sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.51sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.51sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.52sINFOros2-16process has finished cleanly [pid 10251] ×2 + 1.59sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.59sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.67sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.67sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.42sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.42sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.42sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 2.42sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.42sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.43sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 2.43sINFOros2-18process has finished cleanly [pid 10253] ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 2.49sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 2.49sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 2.50sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.50sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.88sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 2.89sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 3.22sINFOros2-19process has finished cleanly [pid 10254] ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.52sINFOmove_groupClearing octomap...[0m ×2 + 3.52sINFOmove_groupOctomap cleared.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 6.72sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 6.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 | ||||
| − 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/2026-06-29-14-58-43-109878-1a4c41c5ce68-10110 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 6 errors · 24 warnings · 199 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_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.03sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-17process has finished cleanly [pid 10252] ×2 + 0.07sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.07sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.08sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.08sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.09sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.09sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186325 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186325 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2-13process has finished cleanly [pid 10248] ×2 + 0.48sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.76sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.78sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.50sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.51sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.51sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.52sINFOros2-16process has finished cleanly [pid 10251] ×2 + 1.59sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.59sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.67sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.67sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.42sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.42sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.42sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 2.42sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.42sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.43sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 2.43sINFOros2-18process has finished cleanly [pid 10253] ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 2.49sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 2.49sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 2.50sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.50sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.88sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 2.89sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sINFOros2-19process has finished cleanly [pid 10254] ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.52sINFOmove_groupClearing octomap...[0m ×2 + 3.52sINFOmove_groupOctomap cleared.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 6.72sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 6.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 6 errors · 24 warnings · 199 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_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.03sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-17process has finished cleanly [pid 10252] ×2 + 0.07sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.07sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.08sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.08sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.09sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.09sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186325 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186325 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2-13process has finished cleanly [pid 10248] ×2 + 0.48sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.76sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.78sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.50sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.51sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.51sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.52sINFOros2-16process has finished cleanly [pid 10251] ×2 + 1.59sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.59sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.67sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.67sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.42sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.42sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.42sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 2.42sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.42sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.43sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 2.43sINFOros2-18process has finished cleanly [pid 10253] ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 2.49sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 2.49sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 2.50sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.50sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.88sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 2.89sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sINFOros2-19process has finished cleanly [pid 10254] ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.52sINFOmove_groupClearing octomap...[0m ×2 + 3.52sINFOmove_groupOctomap cleared.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 6.72sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 6.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 6 errors · 24 warnings · 199 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_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.03sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-17process has finished cleanly [pid 10252] ×2 + 0.07sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.07sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.08sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.08sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.09sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.09sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186325 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186325 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2-13process has finished cleanly [pid 10248] ×2 + 0.48sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.76sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.78sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 1.14sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.50sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.51sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.51sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.52sINFOros2-16process has finished cleanly [pid 10251] ×2 + 1.59sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.59sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.67sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.67sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.42sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.42sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.42sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 2.42sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.42sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.43sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 2.43sINFOros2-18process has finished cleanly [pid 10253] ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 2.49sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 2.49sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 2.50sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.50sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.88sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 2.89sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sINFOros2-19process has finished cleanly [pid 10254] ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.52sINFOmove_groupClearing octomap...[0m ×2 + 3.52sINFOmove_groupOctomap cleared.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 6.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 6.72sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 6.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 6 errors · 18 warnings · 174 info |
+ 0.00sINFOros2-13process has finished cleanly [pid 10248] ×2 + 0.04sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.04sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.30sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.30sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.30sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.30sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.30sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.30sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.32sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.33sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.33sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.33sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.70sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.70sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.70sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.06sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.07sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.07sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2-16process has finished cleanly [pid 10251] ×2 + 1.15sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.15sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.23sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.23sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.23sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.23sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.62sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 1.62sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.98sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.98sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.98sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.98sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.98sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.99sINFOros2-18process has finished cleanly [pid 10253] ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 2.05sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 2.05sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 2.06sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.06sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.44sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 2.45sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.78sINFOros2-19process has finished cleanly [pid 10254] ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.08sINFOmove_groupClearing octomap...[0m ×2 + 3.08sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.97sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 6.28sERRORobjective_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 + 6.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[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 · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 9 errors · 24 warnings · 171 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 + 7.31sWARNobjective_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 + 7.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.55sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 6 errors · 21 warnings · 168 info |
+ 0.00sINFOros2_control_node[2026-06-29 14:59:07.039] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.041] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 14:59:07.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091035 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 10251] ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.960] [info] Controller state will be published at 20 Hz. ×2 + 0.92sINFOros2_control_node[2026-06-29 14:59:07.962] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.28sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.28sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w + 1.28sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4o9gtm1q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o5x7x5yw --params-file /tmp/launch_params_wy8510_w [0m ×2 + 1.29sINFOros2-18process has finished cleanly [pid 10253] ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157383 ms (missed cycles : 2).[0m ×2 + 1.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.74sINFOros2_control_node[2026-06-29 14:59:08.783] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-06-29 14:59:08.784] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.08sINFOros2-19process has finished cleanly [pid 10254] ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953952 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782745149.41684532 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782745149.42706418 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782745149.98550630 seconds. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782745150.00568557 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265829 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782745150.55826426 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782745150.70884681 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782745151.29609942 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782745151.36623764 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017596 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Calibrate SAM3 Mask Areas` starting at time: 1782745151.91693830 seconds. ×3 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208708 ms (missed cycles : 3).[0m ×2 + 5.58sERRORobjective_server_nodeGetMasks2DFromExemplar Error: Image encoder model path could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ridgeback_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/moveit_pro_sam2, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/clearpath_mecanum_drive_controller, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_task_constructor_capabilities, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_studio_common, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/cartesian_planning, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_control_interface, /opt/overlay_ws/install/moveit_simple_controller_manager, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_ros_robot_interaction, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_planners_stomp, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Calibrate SAM3 Mask Areas` did not succeed at time: 1782745152.61724949 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782745153.27961302 seconds. ×3 + 6.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750114 ms (missed cycles : 3).[0m ×2 | ||||