67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
23.7s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 73.4s | 3 errors · 240 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579750 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579750 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951623 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951623 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080987 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080987 ms (missed cycles : 5).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360352 ms (missed cycles : 6). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360352 ms (missed cycles : 6).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGot request to cancel goal + 3.55sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.55sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.55sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782758921.38231444 seconds ×3 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.15sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782758921.93741035 seconds. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178736 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178736 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.794265 ms (missed cycles : 7). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.794265 ms (missed cycles : 7).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.49sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.49sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.49sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.49sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462069 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462069 ms (missed cycles : 3).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880149 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880149 ms (missed cycles : 2).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376771 ms (missed cycles : 4). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376771 ms (missed cycles : 4).[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735416 ms (missed cycles : 5). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735416 ms (missed cycles : 5).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933131 ms (missed cycles : 3). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933131 ms (missed cycles : 3).[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691531 ms (missed cycles : 3). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691531 ms (missed cycles : 3).[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.345427 ms (missed cycles : 6). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.345427 ms (missed cycles : 6).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535317 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535317 ms (missed cycles : 2).[0m ×2 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724887 ms (missed cycles : 2). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724887 ms (missed cycles : 2).[0m ×2 + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090211 ms (missed cycles : 2). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090211 ms (missed cycles : 2).[0m ×2 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769612 ms (missed cycles : 3). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769612 ms (missed cycles : 3).[0m ×2 + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708101 ms (missed cycles : 2). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708101 ms (missed cycles : 2).[0m ×2 + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346811 ms (missed cycles : 5). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346811 ms (missed cycles : 5).[0m ×2 + 19.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993431 ms (missed cycles : 3). + 19.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993431 ms (missed cycles : 3).[0m ×2 + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424937 ms (missed cycles : 2). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424937 ms (missed cycles : 2).[0m ×2 + 22.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400311 ms (missed cycles : 2). + 22.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400311 ms (missed cycles : 2).[0m ×2 + 23.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119853 ms (missed cycles : 3). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119853 ms (missed cycles : 3).[0m ×2 + 24.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.636699 ms (missed cycles : 6). + 24.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.636699 ms (missed cycles : 6).[0m ×2 + 25.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282629 ms (missed cycles : 2). + 25.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282629 ms (missed cycles : 2).[0m ×2 + 26.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257174 ms (missed cycles : 4). + 26.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257174 ms (missed cycles : 4).[0m ×2 + 27.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.080501 ms (missed cycles : 7). + 27.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.080501 ms (missed cycles : 7).[0m ×2 + 28.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.085210 ms (missed cycles : 4). + 28.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.085210 ms (missed cycles : 4).[0m ×2 + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053021 ms (missed cycles : 2). + 29.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053021 ms (missed cycles : 2).[0m ×2 + 30.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508247 ms (missed cycles : 2). + 30.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508247 ms (missed cycles : 2).[0m ×2 + 31.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.681772 ms (missed cycles : 5). + 31.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.681772 ms (missed cycles : 5).[0m ×2 + 32.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000658 ms (missed cycles : 2). + 32.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000658 ms (missed cycles : 2).[0m ×2 + 32.78sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.78sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.95sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.57sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×9 + 33.57sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 33.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448757 ms (missed cycles : 2). + 33.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448757 ms (missed cycles : 2).[0m ×2 + 34.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646192 ms (missed cycles : 4). + 34.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646192 ms (missed cycles : 4).[0m ×2 + 35.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200493 ms (missed cycles : 2). + 35.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200493 ms (missed cycles : 2).[0m ×2 + 36.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741507 ms (missed cycles : 2). + 36.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741507 ms (missed cycles : 2).[0m ×2 + 38.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792866 ms (missed cycles : 3). + 38.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792866 ms (missed cycles : 3).[0m ×2 + 39.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996697 ms (missed cycles : 2). + 39.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996697 ms (missed cycles : 2).[0m ×2 + 40.21sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368436 ms (missed cycles : 2). + 40.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368436 ms (missed cycles : 2).[0m ×2 + 41.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984792 ms (missed cycles : 4). + 41.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984792 ms (missed cycles : 4).[0m ×2 + 42.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820364 ms (missed cycles : 2). + 42.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820364 ms (missed cycles : 2).[0m ×2 + 43.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158480 ms (missed cycles : 4). + 43.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158480 ms (missed cycles : 4).[0m ×2 + 44.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086456 ms (missed cycles : 2). + 44.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086456 ms (missed cycles : 2).[0m ×2 + 45.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510601 ms (missed cycles : 4). + 45.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510601 ms (missed cycles : 4).[0m ×2 + 46.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056597 ms (missed cycles : 4). + 46.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056597 ms (missed cycles : 4).[0m ×2 + 47.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383976 ms (missed cycles : 3). + 47.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383976 ms (missed cycles : 3).[0m ×2 + 48.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300201 ms (missed cycles : 2). + 48.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300201 ms (missed cycles : 2).[0m ×2 + 49.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774854 ms (missed cycles : 2). + 49.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774854 ms (missed cycles : 2).[0m ×2 + 50.46sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 50.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209098 ms (missed cycles : 2). + 50.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209098 ms (missed cycles : 2).[0m ×2 + 51.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592144 ms (missed cycles : 2). + 51.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592144 ms (missed cycles : 2).[0m ×2 + 52.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605915 ms (missed cycles : 3). + 52.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605915 ms (missed cycles : 3).[0m ×2 + 53.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222282 ms (missed cycles : 2). + 53.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222282 ms (missed cycles : 2).[0m ×2 + 54.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408511 ms (missed cycles : 3). + 54.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408511 ms (missed cycles : 3).[0m ×2 + 55.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441337 ms (missed cycles : 2). + 55.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441337 ms (missed cycles : 2).[0m ×2 + 57.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043635 ms (missed cycles : 2). + 57.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043635 ms (missed cycles : 2).[0m ×2 + 58.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757140 ms (missed cycles : 3). + 58.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757140 ms (missed cycles : 3).[0m ×2 + 59.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505237 ms (missed cycles : 3). + 59.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505237 ms (missed cycles : 3).[0m ×2 + 60.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.146061 ms (missed cycles : 4). + 60.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.146061 ms (missed cycles : 4).[0m ×2 + 61.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356680 ms (missed cycles : 3). + 61.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356680 ms (missed cycles : 3).[0m ×2 + 62.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506884 ms (missed cycles : 4). + 62.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506884 ms (missed cycles : 4).[0m ×2 + 63.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011479 ms (missed cycles : 2). + 63.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011479 ms (missed cycles : 2).[0m ×2 + 64.18sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 64.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332975 ms (missed cycles : 3). + 64.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332975 ms (missed cycles : 3).[0m ×2 + 65.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540037 ms (missed cycles : 2). + 65.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540037 ms (missed cycles : 2).[0m ×2 + 66.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719863 ms (missed cycles : 2). + 66.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719863 ms (missed cycles : 2).[0m ×2 + 67.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398719 ms (missed cycles : 5). + 67.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398719 ms (missed cycles : 5).[0m ×2 + 68.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181957 ms (missed cycles : 4). + 68.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181957 ms (missed cycles : 4).[0m ×2 + 69.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.570746 ms (missed cycles : 4). + 69.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.570746 ms (missed cycles : 4).[0m ×2 + 70.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896754 ms (missed cycles : 2). + 70.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896754 ms (missed cycles : 2).[0m ×2 + 71.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302433 ms (missed cycles : 2). + 71.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302433 ms (missed cycles : 2).[0m ×2 + 72.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785788 ms (missed cycles : 3). + 72.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785788 ms (missed cycles : 3).[0m ×2 + 73.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938247 ms (missed cycles : 2). + 73.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938247 ms (missed cycles : 2).[0m ×2 + 74.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2). + 74.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2).[0m ×2 + 75.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6). + 75.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6).[0m ×2 + 76.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4). + 76.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4).[0m ×2 + 77.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782758994.79758096 seconds ×3 + 77.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782758995.35351276 seconds. ×3 + 77.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463264 ms (missed cycles : 4). + 77.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463264 ms (missed cycles : 4).[0m ×2 + 77.90sINFOobjective_server_nodeFound path in 0 iterations (9.3e-07 s). ×2 + 78.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2). + 78.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2).[0m ×2 + 79.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2). + 79.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.4s | 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: 1782758759.77592015 seconds ×3 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034235 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034235 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782758760.31788206 seconds. ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001919 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001919 ms (missed cycles : 2).[0m ×2 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (2.058e-05 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.37sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.37sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.38sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.38sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313850 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313850 ms (missed cycles : 5).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987462 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987462 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782758763.24801564 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782758763.79325056 seconds. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621396 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621396 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743347 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743347 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950288 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950288 ms (missed cycles : 5).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745269 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745269 ms (missed cycles : 2).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482416 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482416 ms (missed cycles : 2).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936035 ms (missed cycles : 2). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936035 ms (missed cycles : 2).[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390263 ms (missed cycles : 3). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390263 ms (missed cycles : 3).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620928 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620928 ms (missed cycles : 2).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469856 ms (missed cycles : 3). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469856 ms (missed cycles : 3).[0m ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888388 ms (missed cycles : 2). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888388 ms (missed cycles : 2).[0m ×2 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954461 ms (missed cycles : 3). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954461 ms (missed cycles : 3).[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526729 ms (missed cycles : 4). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526729 ms (missed cycles : 4).[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012941 ms (missed cycles : 5). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012941 ms (missed cycles : 5).[0m ×2 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592745 ms (missed cycles : 3). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592745 ms (missed cycles : 3).[0m ×2 + 18.21sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511407 ms (missed cycles : 3). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511407 ms (missed cycles : 3).[0m ×2 + 19.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.821108 ms (missed cycles : 5). + 19.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.821108 ms (missed cycles : 5).[0m ×2 + 20.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687128 ms (missed cycles : 2). + 20.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687128 ms (missed cycles : 2).[0m ×2 + 21.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174715 ms (missed cycles : 2). + 21.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174715 ms (missed cycles : 2).[0m ×2 + 22.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416052 ms (missed cycles : 4). + 22.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416052 ms (missed cycles : 4).[0m ×2 + 24.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463193 ms (missed cycles : 3). + 24.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463193 ms (missed cycles : 3).[0m ×2 + 25.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900552 ms (missed cycles : 3). + 25.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900552 ms (missed cycles : 3).[0m ×2 + 26.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086518 ms (missed cycles : 4). + 26.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086518 ms (missed cycles : 4).[0m ×2 + 27.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787145 ms (missed cycles : 2). + 27.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787145 ms (missed cycles : 2).[0m ×2 + 28.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029625 ms (missed cycles : 2). + 28.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029625 ms (missed cycles : 2).[0m ×2 + 29.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903110 ms (missed cycles : 2). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903110 ms (missed cycles : 2).[0m ×2 + 30.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699367 ms (missed cycles : 3). + 30.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699367 ms (missed cycles : 3).[0m ×2 + 31.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381337 ms (missed cycles : 2). + 31.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381337 ms (missed cycles : 2).[0m ×2 + 32.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891760 ms (missed cycles : 3). + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891760 ms (missed cycles : 3).[0m ×2 + 33.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321486 ms (missed cycles : 2). + 33.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321486 ms (missed cycles : 2).[0m ×2 + 34.26sWARNobjective_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 + 34.26sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783967 ms (missed cycles : 2). + 34.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783967 ms (missed cycles : 2).[0m ×2 + 35.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333217 ms (missed cycles : 4). + 35.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333217 ms (missed cycles : 4).[0m ×2 + 36.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436991 ms (missed cycles : 3). + 36.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436991 ms (missed cycles : 3).[0m ×2 + 37.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401999 ms (missed cycles : 2). + 37.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401999 ms (missed cycles : 2).[0m ×2 + 38.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977592 ms (missed cycles : 3). + 38.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977592 ms (missed cycles : 3).[0m ×2 + 39.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.345923 ms (missed cycles : 6). + 39.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.345923 ms (missed cycles : 6).[0m ×2 + 40.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.011288 ms (missed cycles : 7). + 40.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.011288 ms (missed cycles : 7).[0m ×2 + 41.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035134 ms (missed cycles : 5). + 41.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035134 ms (missed cycles : 5).[0m ×2 + 43.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022325 ms (missed cycles : 4). + 43.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022325 ms (missed cycles : 4).[0m ×2 + 44.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673032 ms (missed cycles : 2). + 44.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673032 ms (missed cycles : 2).[0m ×2 + 45.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294408 ms (missed cycles : 2). + 45.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294408 ms (missed cycles : 2).[0m ×2 + 46.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262322 ms (missed cycles : 2). + 46.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262322 ms (missed cycles : 2).[0m ×2 + 47.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704922 ms (missed cycles : 2). + 47.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704922 ms (missed cycles : 2).[0m ×2 + 48.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498648 ms (missed cycles : 3). + 48.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498648 ms (missed cycles : 3).[0m ×2 + 49.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294841 ms (missed cycles : 5). + 49.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294841 ms (missed cycles : 5).[0m ×2 + 50.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053313 ms (missed cycles : 2). + 50.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053313 ms (missed cycles : 2).[0m ×2 + 51.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141643 ms (missed cycles : 2). + 51.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141643 ms (missed cycles : 2).[0m ×2 + 52.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456849 ms (missed cycles : 2). + 52.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456849 ms (missed cycles : 2).[0m ×2 + 53.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483806 ms (missed cycles : 4). + 53.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483806 ms (missed cycles : 4).[0m ×2 + 54.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382697 ms (missed cycles : 4). + 54.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382697 ms (missed cycles : 4).[0m ×2 + 55.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444585 ms (missed cycles : 3). + 55.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444585 ms (missed cycles : 3).[0m ×2 + 56.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927741 ms (missed cycles : 2). + 56.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927741 ms (missed cycles : 2).[0m ×2 + 57.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494082 ms (missed cycles : 2). + 57.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494082 ms (missed cycles : 2).[0m ×2 + 58.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539345 ms (missed cycles : 3). + 58.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539345 ms (missed cycles : 3).[0m ×2 + 59.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782758819.62340188 seconds ×3 + 59.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001810 ms (missed cycles : 3). + 59.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001810 ms (missed cycles : 3).[0m ×2 + 60.41sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782758820.17503953 seconds. ×3 + 60.70sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 60.72sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637603 ms (missed cycles : 4). + 61.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637603 ms (missed cycles : 4).[0m ×2 + 62.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869338 ms (missed cycles : 2). + 62.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869338 ms (missed cycles : 2).[0m ×2 + 63.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248747 ms (missed cycles : 2). + 63.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248747 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 54.9s | 180 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938247 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938247 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.28sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.34sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782758994.79758096 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782758995.35351276 seconds. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463264 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463264 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (9.3e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.40sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.40sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731718 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731718 ms (missed cycles : 3).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276755 ms (missed cycles : 5). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276755 ms (missed cycles : 5).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.043150 ms (missed cycles : 5). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.043150 ms (missed cycles : 5).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895962 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895962 ms (missed cycles : 2).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562043 ms (missed cycles : 4). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562043 ms (missed cycles : 4).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408567 ms (missed cycles : 5). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408567 ms (missed cycles : 5).[0m ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893595 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893595 ms (missed cycles : 2).[0m ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266201 ms (missed cycles : 4). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266201 ms (missed cycles : 4).[0m ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474083 ms (missed cycles : 2). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474083 ms (missed cycles : 2).[0m ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108201 ms (missed cycles : 4). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108201 ms (missed cycles : 4).[0m ×2 + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370273 ms (missed cycles : 3). + 18.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370273 ms (missed cycles : 3).[0m ×2 + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740708 ms (missed cycles : 4). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740708 ms (missed cycles : 4).[0m ×2 + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421544 ms (missed cycles : 3). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421544 ms (missed cycles : 3).[0m ×2 + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371354 ms (missed cycles : 3). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371354 ms (missed cycles : 3).[0m ×2 + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386775 ms (missed cycles : 3). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386775 ms (missed cycles : 3).[0m ×2 + 23.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737250 ms (missed cycles : 2). + 23.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737250 ms (missed cycles : 2).[0m ×2 + 24.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013164 ms (missed cycles : 2). + 24.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013164 ms (missed cycles : 2).[0m ×2 + 25.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221382 ms (missed cycles : 4). + 25.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221382 ms (missed cycles : 4).[0m ×2 + 26.55sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456637 ms (missed cycles : 2). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456637 ms (missed cycles : 2).[0m ×2 + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188904 ms (missed cycles : 2). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188904 ms (missed cycles : 2).[0m ×2 + 28.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956810 ms (missed cycles : 2). + 28.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956810 ms (missed cycles : 2).[0m ×2 + 29.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974805 ms (missed cycles : 2). + 29.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974805 ms (missed cycles : 2).[0m ×2 + 30.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925896 ms (missed cycles : 4). + 30.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925896 ms (missed cycles : 4).[0m ×2 + 31.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442325 ms (missed cycles : 6). + 31.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442325 ms (missed cycles : 6).[0m ×2 + 32.67sWARNobjective_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 + 32.67sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196921 ms (missed cycles : 4). + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196921 ms (missed cycles : 4).[0m ×2 + 33.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666156 ms (missed cycles : 4). + 33.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666156 ms (missed cycles : 4).[0m ×2 + 34.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677178 ms (missed cycles : 3). + 34.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677178 ms (missed cycles : 3).[0m ×2 + 35.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.833320 ms (missed cycles : 5). + 35.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.833320 ms (missed cycles : 5).[0m ×2 + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852499 ms (missed cycles : 2). + 37.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852499 ms (missed cycles : 2).[0m ×2 + 38.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.578898 ms (missed cycles : 7). + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.578898 ms (missed cycles : 7).[0m ×2 + 39.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913918 ms (missed cycles : 5). + 39.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913918 ms (missed cycles : 5).[0m ×2 + 40.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.435991 ms (missed cycles : 6). + 40.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.435991 ms (missed cycles : 6).[0m ×2 + 41.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907044 ms (missed cycles : 2). + 41.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907044 ms (missed cycles : 2).[0m ×2 + 42.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968050 ms (missed cycles : 2). + 42.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968050 ms (missed cycles : 2).[0m ×2 + 43.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677636 ms (missed cycles : 2). + 43.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677636 ms (missed cycles : 2).[0m ×2 + 44.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617452 ms (missed cycles : 2). + 44.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617452 ms (missed cycles : 2).[0m ×2 + 45.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343741 ms (missed cycles : 3). + 45.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343741 ms (missed cycles : 3).[0m ×2 + 46.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204977 ms (missed cycles : 4). + 46.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204977 ms (missed cycles : 4).[0m ×2 + 47.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848778 ms (missed cycles : 3). + 47.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848778 ms (missed cycles : 3).[0m ×2 + 48.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818773 ms (missed cycles : 2). + 48.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818773 ms (missed cycles : 2).[0m ×2 + 49.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523654 ms (missed cycles : 3). + 49.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523654 ms (missed cycles : 3).[0m ×2 + 50.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817038 ms (missed cycles : 2). + 50.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817038 ms (missed cycles : 2).[0m ×2 + 51.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829227 ms (missed cycles : 2). + 51.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829227 ms (missed cycles : 2).[0m ×2 + 52.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504035 ms (missed cycles : 3). + 52.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504035 ms (missed cycles : 3).[0m ×2 + 53.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196106 ms (missed cycles : 2). + 53.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196106 ms (missed cycles : 2).[0m ×2 + 54.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811025 ms (missed cycles : 2). + 54.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811025 ms (missed cycles : 2).[0m ×2 + 56.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603191 ms (missed cycles : 4). + 56.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603191 ms (missed cycles : 4).[0m ×2 + 57.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938800 ms (missed cycles : 2). + 57.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938800 ms (missed cycles : 2).[0m ×2 + 58.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713286 ms (missed cycles : 2). + 58.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713286 ms (missed cycles : 2).[0m ×2 + 58.26sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782759049.72364807 seconds ×3 + 58.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782759050.27336740 seconds. ×3 + 59.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406880 ms (missed cycles : 4). + 59.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406880 ms (missed cycles : 4).[0m ×2 + 59.11sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 59.12sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544725 ms (missed cycles : 3). + 60.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544725 ms (missed cycles : 3).[0m ×2 + 61.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745352 ms (missed cycles : 5). + 61.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745352 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.8s | 180 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363586 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363586 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532438 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532438 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780528 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780528 ms (missed cycles : 3).[0m ×2 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.79sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.84sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782758855.55521989 seconds ×3 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742178 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742178 ms (missed cycles : 5).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782758856.09911489 seconds. ×3 + 3.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137283 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137283 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.67sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.67sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030433 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030433 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155345 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155345 ms (missed cycles : 4).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159367 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159367 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734120 ms (missed cycles : 5). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734120 ms (missed cycles : 5).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867786 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867786 ms (missed cycles : 2).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079280 ms (missed cycles : 4). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079280 ms (missed cycles : 4).[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006023 ms (missed cycles : 5). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006023 ms (missed cycles : 5).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536296 ms (missed cycles : 3). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536296 ms (missed cycles : 3).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064934 ms (missed cycles : 4). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064934 ms (missed cycles : 4).[0m ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877877 ms (missed cycles : 4). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877877 ms (missed cycles : 4).[0m ×2 + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818100 ms (missed cycles : 3). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818100 ms (missed cycles : 3).[0m ×2 + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214038 ms (missed cycles : 4). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214038 ms (missed cycles : 4).[0m ×2 + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931551 ms (missed cycles : 2). + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931551 ms (missed cycles : 2).[0m ×2 + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396008 ms (missed cycles : 3). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396008 ms (missed cycles : 3).[0m ×2 + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972019 ms (missed cycles : 3). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972019 ms (missed cycles : 3).[0m ×2 + 21.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549387 ms (missed cycles : 3). + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549387 ms (missed cycles : 3).[0m ×2 + 22.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944930 ms (missed cycles : 3). + 22.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944930 ms (missed cycles : 3).[0m ×2 + 23.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359365 ms (missed cycles : 3). + 23.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359365 ms (missed cycles : 3).[0m ×2 + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.630600 ms (missed cycles : 4). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.630600 ms (missed cycles : 4).[0m ×2 + 25.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510170 ms (missed cycles : 4). + 25.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510170 ms (missed cycles : 4).[0m ×2 + 26.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.624250 ms (missed cycles : 4). + 26.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.624250 ms (missed cycles : 4).[0m ×2 + 27.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243277 ms (missed cycles : 4). + 27.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243277 ms (missed cycles : 4).[0m ×2 + 28.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317437 ms (missed cycles : 2). + 28.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317437 ms (missed cycles : 2).[0m ×2 + 29.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417366 ms (missed cycles : 2). + 29.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417366 ms (missed cycles : 2).[0m ×2 + 30.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483299 ms (missed cycles : 3). + 30.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483299 ms (missed cycles : 3).[0m ×2 + 31.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259336 ms (missed cycles : 2). + 31.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259336 ms (missed cycles : 2).[0m ×2 + 32.21sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 32.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658116 ms (missed cycles : 3). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658116 ms (missed cycles : 3).[0m ×2 + 32.84sWARNobjective_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 + 32.84sINFOobjective_server_nodePlanning for 52 path waypoints. ×3 + 33.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206487 ms (missed cycles : 4). + 33.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206487 ms (missed cycles : 4).[0m ×2 + 34.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000470 ms (missed cycles : 2). + 34.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000470 ms (missed cycles : 2).[0m ×2 + 35.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578309 ms (missed cycles : 4). + 35.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578309 ms (missed cycles : 4).[0m ×2 + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.610155 ms (missed cycles : 7). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.610155 ms (missed cycles : 7).[0m ×2 + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867095 ms (missed cycles : 3). + 37.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867095 ms (missed cycles : 3).[0m ×2 + 38.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.296865 ms (missed cycles : 4). + 38.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.296865 ms (missed cycles : 4).[0m ×2 + 39.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.868606 ms (missed cycles : 6). + 39.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.868606 ms (missed cycles : 6).[0m ×2 + 40.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092652 ms (missed cycles : 2). + 40.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092652 ms (missed cycles : 2).[0m ×2 + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065531 ms (missed cycles : 3). + 41.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065531 ms (missed cycles : 3).[0m ×2 + 42.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966639 ms (missed cycles : 2). + 42.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966639 ms (missed cycles : 2).[0m ×2 + 43.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114724 ms (missed cycles : 3). + 43.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114724 ms (missed cycles : 3).[0m ×2 + 45.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803103 ms (missed cycles : 2). + 45.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803103 ms (missed cycles : 2).[0m ×2 + 45.28sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975367 ms (missed cycles : 3). + 46.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975367 ms (missed cycles : 3).[0m ×2 + 47.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728506 ms (missed cycles : 5). + 47.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728506 ms (missed cycles : 5).[0m ×2 + 48.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018095 ms (missed cycles : 2). + 48.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018095 ms (missed cycles : 2).[0m ×2 + 49.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200705 ms (missed cycles : 4). + 49.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200705 ms (missed cycles : 4).[0m ×2 + 50.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.365237 ms (missed cycles : 4). + 50.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.365237 ms (missed cycles : 4).[0m ×2 + 51.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820750 ms (missed cycles : 2). + 51.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820750 ms (missed cycles : 2).[0m ×2 + 52.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.857241 ms (missed cycles : 6). + 52.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.857241 ms (missed cycles : 6).[0m ×2 + 53.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974453 ms (missed cycles : 3). + 53.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974453 ms (missed cycles : 3).[0m ×2 + 54.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987646 ms (missed cycles : 3). + 54.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987646 ms (missed cycles : 3).[0m ×2 + 55.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985753 ms (missed cycles : 2). + 55.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985753 ms (missed cycles : 2).[0m ×2 + 56.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814393 ms (missed cycles : 4). + 56.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814393 ms (missed cycles : 4).[0m ×2 + 57.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530698 ms (missed cycles : 2). + 57.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530698 ms (missed cycles : 2).[0m ×2 + 57.63sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782758910.35055017 seconds ×3 + 58.18sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782758910.89906096 seconds. ×3 + 58.48sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 58.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173505 ms (missed cycles : 3). + 58.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173505 ms (missed cycles : 3).[0m ×2 + 59.43sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 59.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176204 ms (missed cycles : 2). + 59.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176204 ms (missed cycles : 2).[0m ×2 + 60.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625487 ms (missed cycles : 6). + 60.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625487 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 153 warnings · 227 info |
+ 0.00sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.25sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.25sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.25sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.25sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.26sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.26sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.30sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.31sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.31sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.31sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.31sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.31sINFOplatform_velocity_controllerconfigure successful + 0.32sINFOros2_control_nodeconfigure successful[0m ×4 + 0.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.34sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.34sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.63sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.63sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.64sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.64sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.67sINFOros2-12process has finished cleanly [pid 9228] ×2 + 0.69sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.69sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.71sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.71sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.71sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.71sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.71sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.71sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.71sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.71sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.72sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.72sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.72sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.72sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.05sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.09sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.10sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.10sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.10sINFOplatform_velocity_controller_nav2configure successful + 1.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.50sINFOros2-14process has finished cleanly [pid 9248] ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.33sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.33sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.56sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.56sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.56sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262588 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262588 ms (missed cycles : 2).[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326231 ms (missed cycles : 4). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326231 ms (missed cycles : 4).[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771014 ms (missed cycles : 2). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771014 ms (missed cycles : 2).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354927 ms (missed cycles : 3). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354927 ms (missed cycles : 3).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303879 ms (missed cycles : 3). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303879 ms (missed cycles : 3).[0m ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515662 ms (missed cycles : 3). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515662 ms (missed cycles : 3).[0m ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612904 ms (missed cycles : 3). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612904 ms (missed cycles : 3).[0m ×2 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260408 ms (missed cycles : 4). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260408 ms (missed cycles : 4).[0m ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261395 ms (missed cycles : 4). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261395 ms (missed cycles : 4).[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202371 ms (missed cycles : 3). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202371 ms (missed cycles : 3).[0m ×2 + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084856 ms (missed cycles : 2). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084856 ms (missed cycles : 2).[0m ×2 + 18.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358294 ms (missed cycles : 4). + 18.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358294 ms (missed cycles : 4).[0m ×2 + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701378 ms (missed cycles : 4). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701378 ms (missed cycles : 4).[0m ×2 + 20.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846427 ms (missed cycles : 3). + 20.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846427 ms (missed cycles : 3).[0m ×2 + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810306 ms (missed cycles : 2). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810306 ms (missed cycles : 2).[0m ×2 + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714315 ms (missed cycles : 2). + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714315 ms (missed cycles : 2).[0m ×2 + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.643529 ms (missed cycles : 4). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.643529 ms (missed cycles : 4).[0m ×2 + 25.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452781 ms (missed cycles : 3). + 25.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452781 ms (missed cycles : 3).[0m ×2 + 26.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427804 ms (missed cycles : 3). + 26.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427804 ms (missed cycles : 3).[0m ×2 + 27.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304202 ms (missed cycles : 3). + 27.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304202 ms (missed cycles : 3).[0m ×2 + 28.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619108 ms (missed cycles : 4). + 28.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619108 ms (missed cycles : 4).[0m ×2 + 29.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037181 ms (missed cycles : 4). + 29.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037181 ms (missed cycles : 4).[0m ×2 + 30.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259991 ms (missed cycles : 3). + 30.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259991 ms (missed cycles : 3).[0m ×2 + 31.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566714 ms (missed cycles : 2). + 31.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566714 ms (missed cycles : 2).[0m ×2 + 32.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110887 ms (missed cycles : 3). + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110887 ms (missed cycles : 3).[0m ×2 + 33.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.819622 ms (missed cycles : 5). + 33.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.819622 ms (missed cycles : 5).[0m ×2 + 34.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841975 ms (missed cycles : 2). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841975 ms (missed cycles : 2).[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391531 ms (missed cycles : 3). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391531 ms (missed cycles : 3).[0m ×2 + 36.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205828 ms (missed cycles : 3). + 36.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205828 ms (missed cycles : 3).[0m ×2 + 37.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115478 ms (missed cycles : 2). + 37.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115478 ms (missed cycles : 2).[0m ×2 + 38.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.188765 ms (missed cycles : 4). + 38.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.188765 ms (missed cycles : 4).[0m ×2 + 39.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433254 ms (missed cycles : 3). + 39.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433254 ms (missed cycles : 3).[0m ×2 + 41.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262772 ms (missed cycles : 2). + 41.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262772 ms (missed cycles : 2).[0m ×2 + 42.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269249 ms (missed cycles : 4). + 42.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269249 ms (missed cycles : 4).[0m ×2 + 43.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323265 ms (missed cycles : 2). + 43.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323265 ms (missed cycles : 2).[0m ×2 + 44.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.253795 ms (missed cycles : 5). + 44.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.253795 ms (missed cycles : 5).[0m ×2 + 45.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554750 ms (missed cycles : 4). + 45.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554750 ms (missed cycles : 4).[0m ×2 + 46.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787286 ms (missed cycles : 2). + 46.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787286 ms (missed cycles : 2).[0m ×2 + 47.21sINFOjoint_trajectory_controllerGoal reached, success! + 47.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782758759.77592015 seconds ×3 + 47.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034235 ms (missed cycles : 2). + 47.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034235 ms (missed cycles : 2).[0m ×2 + 47.76sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782758760.31788206 seconds. ×3 + 48.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001919 ms (missed cycles : 2). + 48.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001919 ms (missed cycles : 2).[0m ×2 + 48.56sINFOobjective_server_nodeFound path in 0 iterations (2.058e-05 s). ×2 + 48.56sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313850 ms (missed cycles : 5). + 49.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313850 ms (missed cycles : 5).[0m ×2 + 50.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987462 ms (missed cycles : 2). + 50.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987462 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.4s | 105 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869338 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869338 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248747 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248747 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147599 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147599 ms (missed cycles : 2).[0m ×2 + 2.31sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.31sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.32sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782758824.15518260 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365647 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365647 ms (missed cycles : 3).[0m ×2 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.87sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782758825.70508099 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.530721 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.530721 ms (missed cycles : 5).[0m ×2 + 5.26sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.32sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512620 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512620 ms (missed cycles : 3).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272701 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272701 ms (missed cycles : 2).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589135 ms (missed cycles : 4). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589135 ms (missed cycles : 4).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704998 ms (missed cycles : 5). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704998 ms (missed cycles : 5).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896952 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896952 ms (missed cycles : 2).[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087860 ms (missed cycles : 4). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087860 ms (missed cycles : 4).[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300209 ms (missed cycles : 2). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300209 ms (missed cycles : 2).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958194 ms (missed cycles : 2). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958194 ms (missed cycles : 2).[0m ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512878 ms (missed cycles : 5). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512878 ms (missed cycles : 5).[0m ×2 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758392 ms (missed cycles : 4). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758392 ms (missed cycles : 4).[0m ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399100 ms (missed cycles : 2). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399100 ms (missed cycles : 2).[0m ×2 + 16.15sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.904445 ms (missed cycles : 5). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.904445 ms (missed cycles : 5).[0m ×2 + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.781352 ms (missed cycles : 5). + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.781352 ms (missed cycles : 5).[0m ×2 + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595211 ms (missed cycles : 4). + 18.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595211 ms (missed cycles : 4).[0m ×2 + 20.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757210 ms (missed cycles : 4). + 20.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757210 ms (missed cycles : 4).[0m ×2 + 21.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706578 ms (missed cycles : 2). + 21.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706578 ms (missed cycles : 2).[0m ×2 + 22.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.819470 ms (missed cycles : 5). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.819470 ms (missed cycles : 5).[0m ×2 + 23.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740447 ms (missed cycles : 6). + 23.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740447 ms (missed cycles : 6).[0m ×2 + 24.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.625396 ms (missed cycles : 6). + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.625396 ms (missed cycles : 6).[0m ×2 + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320785 ms (missed cycles : 2). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320785 ms (missed cycles : 2).[0m ×2 + 26.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320011 ms (missed cycles : 2). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320011 ms (missed cycles : 2).[0m ×2 + 27.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824214 ms (missed cycles : 2). + 27.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824214 ms (missed cycles : 2).[0m ×2 + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870017 ms (missed cycles : 3). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870017 ms (missed cycles : 3).[0m ×2 + 29.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163157 ms (missed cycles : 4). + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163157 ms (missed cycles : 4).[0m ×2 + 30.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363586 ms (missed cycles : 2). + 30.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363586 ms (missed cycles : 2).[0m ×2 + 31.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532438 ms (missed cycles : 3). + 31.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532438 ms (missed cycles : 3).[0m ×2 + 32.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780528 ms (missed cycles : 3). + 32.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780528 ms (missed cycles : 3).[0m ×2 + 33.72sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782758855.55521989 seconds ×3 + 34.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742178 ms (missed cycles : 5). + 34.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742178 ms (missed cycles : 5).[0m ×2 + 34.26sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782758856.09911489 seconds. ×3 + 34.57sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 35.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137283 ms (missed cycles : 2). + 35.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137283 ms (missed cycles : 2).[0m ×2 + 35.52sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030433 ms (missed cycles : 4). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030433 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.4s | 57 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811025 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811025 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603191 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603191 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938800 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938800 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713286 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713286 ms (missed cycles : 2).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.33sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782759049.72364807 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782759050.27336740 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 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406880 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406880 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.25sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.25sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544725 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544725 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745352 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745352 ms (missed cycles : 5).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562106 ms (missed cycles : 5). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562106 ms (missed cycles : 5).[0m ×2 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 8.42sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.44sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294400 ms (missed cycles : 4). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294400 ms (missed cycles : 4).[0m ×2 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.58sINFOobjective_server_nodeFound path in 0 iterations (1.08e-06 s). ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.71sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 8.91sINFOobjective_server_nodeFound path in 29 iterations (0.0227214 s). ×2 + 9.07sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_____X] ×2 + 9.12sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 9.42sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.46sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221690 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221690 ms (missed cycles : 2).[0m ×2 + 9.71sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.75sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122070 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122070 ms (missed cycles : 2).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930301 ms (missed cycles : 4). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930301 ms (missed cycles : 4).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035914 ms (missed cycles : 4). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035914 ms (missed cycles : 4).[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362195 ms (missed cycles : 3). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362195 ms (missed cycles : 3).[0m ×2 + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202986 ms (missed cycles : 3). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202986 ms (missed cycles : 3).[0m ×2 + 15.74sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782759062.09470630 seconds ×3 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260649 ms (missed cycles : 4). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260649 ms (missed cycles : 4).[0m ×2 + 16.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782759062.67093539 seconds. ×3 + 16.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.33sINFOmove_groupClearing octomap...[0m ×2 + 16.33sINFOmove_groupOctomap cleared.[0m ×2 + 16.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782759063.11107731 seconds ×3 + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363347 ms (missed cycles : 4). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363347 ms (missed cycles : 4).[0m ×2 + 17.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782759063.65981483 seconds. ×3 + 17.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782759064.05117369 seconds ×3 + 17.93sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041803 ms (missed cycles : 4). + 18.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041803 ms (missed cycles : 4).[0m ×2 + 18.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520027 ms (missed cycles : 3). + 18.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520027 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 51 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987646 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987646 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985753 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985753 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814393 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814393 ms (missed cycles : 4).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530698 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530698 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782758910.35055017 seconds ×3 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.76sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782758910.89906096 seconds. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173505 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173505 ms (missed cycles : 3).[0m ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.04sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.04sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.04sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.04sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176204 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176204 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625487 ms (missed cycles : 6). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625487 ms (missed cycles : 6).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.355167 ms (missed cycles : 9). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.355167 ms (missed cycles : 9).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023889 ms (missed cycles : 4). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023889 ms (missed cycles : 4).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715133 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715133 ms (missed cycles : 2).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579750 ms (missed cycles : 4). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579750 ms (missed cycles : 4).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951623 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951623 ms (missed cycles : 3).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080987 ms (missed cycles : 5). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080987 ms (missed cycles : 5).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360352 ms (missed cycles : 6). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360352 ms (missed cycles : 6).[0m ×2 + 14.20sINFOjoint_trajectory_controllerGot request to cancel goal + 14.20sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.20sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782758921.38231444 seconds ×3 + 14.80sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782758921.93741035 seconds. ×3 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178736 ms (missed cycles : 2). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178736 ms (missed cycles : 2).[0m ×2 + 15.13sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.794265 ms (missed cycles : 7). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.794265 ms (missed cycles : 7).[0m ×2 + 16.11sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462069 ms (missed cycles : 3). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462069 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.7s | 76 errors · 30 warnings · 379 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362195 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202986 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202986 ms (missed cycles : 3).[0m ×2 + 1.97sINFOjoint_trajectory_controllerGoal reached, success! + 1.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.00sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782759062.09470630 seconds ×3 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260649 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260649 ms (missed cycles : 4).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782759062.67093539 seconds. ×3 + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.59sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782759063.11107731 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363347 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363347 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782759063.65981483 seconds. ×3 + 3.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782759064.05117369 seconds ×3 + 4.19sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041803 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041803 ms (missed cycles : 4).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520027 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520027 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168326 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168326 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069318 ms (missed cycles : 5). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069318 ms (missed cycles : 5).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851203 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851203 ms (missed cycles : 2).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133914 ms (missed cycles : 3). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133914 ms (missed cycles : 3).[0m ×2 + 9.57sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.58sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.58sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.58sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.58sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.59sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.59sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.59sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.59sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.60sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.60sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.60sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.60sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.61sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.61sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.63sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.63sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.63sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 9.65sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 9.66sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 9.68sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 9.69sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 9.71sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 9.73sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 9.75sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 9.76sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 9.78sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 9.79sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 9.81sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 9.83sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 9.83sINFOcontroller_managerShutdown request received.... + 9.83sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.84sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 9.84sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 9.84sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.84sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.84sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.84sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 9.84sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 9.84sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 9.84sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 9.84sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.84sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.84sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 9.84sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 9.84sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 9.84sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 9.84sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.84sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.84sINFOcontroller_managerShutting down the controller manager. + 9.85sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 9.87sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 9.87sERRORmove_group-20process has died [pid 9254, 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_5a3dms8a --params-file /tmp/launch_params_4vf1c_hy --params-file /tmp/launch_params_8mjhizlt --params-file /tmp/launch_params_cly1su5w --params-file /tmp/launch_params_n9aval7m --params-file /tmp/launch_params_6242fkmd --params-file /tmp/launch_params_liwrq0tr --params-file /tmp/launch_params_s9uygwds --params-file /tmp/launch_params_jaa_1kwj']. ×2 + 9.88sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 9.90sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 9.91sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 9.93sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 9.94sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 9.94sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 9.94sINFOcontroller_serverCleaning up + 9.94sINFOlocal_costmap.local_costmapCleaning up + 9.94sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.94sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.94sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.94sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 9.94sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 9.94sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 9.94sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 9.94sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 9.94sINFOui_teleop_bridgerclpy.shutdown() ×2 + 9.94sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 9.94sINFOui_teleop_bridge_shutdown(context=context) ×2 + 9.94sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 9.94sINFOui_teleop_bridgecontext.shutdown() ×2 + 9.94sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 9.94sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 9.94sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 9.94sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.94sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.94sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.95sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.95sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 9.95sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.95sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.95sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.95sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.95sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.95sERRORmove_groupStack trace (most recent call last) in thread 9804: ×2 + 9.95sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.95sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff36aa35a63, in __clone ×2 + 9.95sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff36a9a8aa3, in ×2 + 9.95sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff36ac3adb3, in ×2 + 9.95sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7ff36b28f1c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.95sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff36afad4d0, in rclcpp::Rate::sleep() ×2 + 9.95sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff36af00a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.95sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff36aec5a71, in ×2 + 9.95sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff36ac09390, in __cxa_throw ×2 + 9.95sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff36abf3a54, in std::terminate() ×2 + 9.95sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff36ac090d9, in ×2 + 9.95sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff36abf3ff4, in ×2 + 9.95sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff36a9348fe, in abort ×2 + 9.95sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff36a95127d, in raise ×2 + 9.95sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff36a9aab2c, in pthread_kill ×2 + 9.95sERRORmove_groupAborted (Signal sent by tkill() 9254 0) ×2 + 9.95sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.95sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.95sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.95sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 9.95sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 9.95sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.95sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.95sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.95sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 9.95sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 9.95sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 9.95sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 9.95sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.95sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.95sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.95sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 9.95sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 9.95sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 9.95sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.95sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.95sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.95sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.95sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.95sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.95sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.95sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 9.95sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 9.95sINFOobjective_server_node[2026-06-29 18:51:09.952] [moveit_pro_license] [info] ×2 + 9.95sINFOobjective_server_node************************************************* ×4 + 9.95sINFOobjective_server_node* MoveIt Pro License ×2 + 9.95sINFOobjective_server_node* Application has successfully terminated ×2 + 9.95sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 9.95sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 9.95sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 9.95sINFOodom_qos_relay.pymain() ×2 + 9.95sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 9.96sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 9.96sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 9.96sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 9.96sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 9.96sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 9.96sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 9.96sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 9.96sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 9.96sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 9.96sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 9.96sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 9.96sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 9.96sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 9.96sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 9.96sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.96sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5602062dc6a4, in _start ×2 + 9.96sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe28da1028a, in __libc_start_main ×2 + 9.96sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe28da101d0, in ×2 + 9.96sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 9.96sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe28da2dbbd, in exit ×2 + 9.96sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe28da2da75, in ×2 + 9.96sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fe28deff4a2, in spdlog::details::registry::~registry() ×2 + 9.96sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fe28df0a69d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 9.96sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fe28df04965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 9.96sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5602062e3315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 9.96sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5602062e25a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 9.96sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5602062deb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 9.96sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5602062dcd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 9.96sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe28e5a6454, in rclcpp::Node::~Node() ×2 + 9.96sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe28e561515, in ×2 + 9.96sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe28e5a4d20, in ×2 + 9.96sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe28e5a4c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 9.96sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe28e5615d9, in ×2 + 9.96sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe28e566161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 9.96sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fe23cdd3120]) ×2 + 9.97sERRORobjective_server_node_main-25process has died [pid 9272, 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_6ztozh5z --params-file /tmp/launch_params_k35x6tk8 --params-file /tmp/launch_params_7xgqb4o9 --params-file /tmp/launch_params_f4tr8ggc --params-file /tmp/launch_params_7_pzk_5d --params-file /tmp/launch_params_ijh1h6lm --params-file /tmp/launch_params_h4vok1gn --params-file /tmp/launch_params_a2mmld6t --params-file /tmp/launch_params_p0nplmix']. ×2 + 9.97sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 9.98sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 9.98sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 9.98sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 9.98sINFOmap_serverDeactivating + 9.98sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 9.99sINFOmap_serverCleaning up + 9.99sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 9.99sINFOsmoother_serverCleaning up + 10.00sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.00sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.00sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.02sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.02sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.02sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.02sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.02sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.02sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.02sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.02sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.02sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.02sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.02sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.05sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.05sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.05sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 10.50sERRORcomponent_container_isolated-1process has died [pid 9140, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_mkgnxe7y --params-file /tmp/launch_params_64bk07kr -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 10.68sINFOweb_video_server-31process has finished cleanly [pid 9289] ×2 + 10.70sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9288] ×2 + 10.70sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 10.79sINFOexecute_objective_bridge-27process has finished cleanly [pid 9285] ×2 + 10.80sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9264] ×2 + 10.80sERRORui_teleop_bridge-28process has died [pid 9286, 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_pnvy75o3']. ×2 + 10.81sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9257] ×2 + 10.85sINFOparameter_manager_node-21process has finished cleanly [pid 9255] ×2 + 10.87sINFOwaypoint_manager_node-22process has finished cleanly [pid 9256] ×2 + 10.90sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9146] ×2 + 10.91sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9145] ×2 + 10.94sINFOstatic_transform_publisher-4process has finished cleanly [pid 9143] ×2 + 10.95sINFOstatic_transform_publisher-3process has finished cleanly [pid 9142] ×2 + 10.96sINFOstatic_transform_publisher-2process has finished cleanly [pid 9141] ×2 + 10.97sERRORodom_qos_relay.py-5process has died [pid 9144, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 10.97sINFOcomponent_container_mt-26process has finished cleanly [pid 9284] ×2 + 12.42sINFOweb_bridge-29process has finished cleanly [pid 9287] ×2 + 12.42sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 12.59sINFOros2_control_node-8process has finished cleanly [pid 9147] ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.5s | 36 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927741 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927741 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494082 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494082 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539345 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539345 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.14sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782758819.62340188 seconds ×3 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001810 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001810 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782758820.17503953 seconds. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.06sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.06sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.06sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.06sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637603 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637603 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869338 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869338 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248747 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248747 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147599 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147599 ms (missed cycles : 2).[0m ×2 + 7.72sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782758824.15518260 seconds ×3 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365647 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365647 ms (missed cycles : 3).[0m ×2 + 9.27sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782758825.70508099 seconds. ×3 + 9.56sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.530721 ms (missed cycles : 5). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.530721 ms (missed cycles : 5).[0m ×2 + 10.66sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512620 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512620 ms (missed cycles : 3).[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272701 ms (missed cycles : 2). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272701 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.5s | 30 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.253795 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.253795 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554750 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554750 ms (missed cycles : 4).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787286 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787286 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.08sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782758759.77592015 seconds ×3 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034235 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034235 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782758760.31788206 seconds. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001919 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001919 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (2.058e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.46sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.46sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.46sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313850 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313850 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987462 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987462 ms (missed cycles : 2).[0m ×2 + 6.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782758763.24801564 seconds ×3 + 7.11sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782758763.79325056 seconds. ×3 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621396 ms (missed cycles : 4). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621396 ms (missed cycles : 4).[0m ×2 + 7.39sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743347 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743347 ms (missed cycles : 3).[0m ×2 + 8.59sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950288 ms (missed cycles : 5). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950288 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.0s | 24 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035914 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035914 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362195 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362195 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202986 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202986 ms (missed cycles : 3).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782759062.09470630 seconds ×3 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260649 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260649 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782759062.67093539 seconds. ×3 + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.62sINFOmove_groupClearing octomap...[0m ×2 + 3.62sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782759063.11107731 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363347 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363347 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782759063.65981483 seconds. ×3 + 4.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782759064.05117369 seconds ×3 + 5.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041803 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041803 ms (missed cycles : 4).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520027 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520027 ms (missed cycles : 3).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168326 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168326 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 30 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409409 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409409 ms (missed cycles : 3).[0m ×2 + 0.10sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.10sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.10sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.10sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.11sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.11sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.17sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.17sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.17sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.17sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.17sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.18sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.18sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.18sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.53sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.54sINFOros2-15process has finished cleanly [pid 9249] ×2 + 0.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.60sINFOforce_torque_sensor_broadcasterconfigure successful + 0.60sINFOros2_control_nodeconfigure successful[0m ×6 + 0.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.92sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.92sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.92sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.92sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.93sINFOros2-9process has finished cleanly [pid 9225] ×2 + 0.94sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.98sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.98sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.98sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.98sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.98sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.99sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.99sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.99sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5).[0m ×2 + 1.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.51sINFOros2-13process has finished cleanly [pid 9232] ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.52sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.54sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.02sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.02sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.03sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.03sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.07sINFOros2-16process has finished cleanly [pid 9250] ×2 + 2.08sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 2.08sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 2.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.09sINFOplatform_velocity_controllerconfigure successful + 2.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.11sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 2.11sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.40sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.40sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.41sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.41sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.44sINFOros2-12process has finished cleanly [pid 9228] ×2 + 2.46sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.47sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.48sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.48sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.48sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.48sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.48sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.49sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.49sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.81sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.81sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.81sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.82sINFOros2-11process has finished cleanly [pid 9227] ×2 + 2.87sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 2.87sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.87sINFOplatform_velocity_controller_nav2configure successful + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 3.27sINFOros2-14process has finished cleanly [pid 9248] ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.60sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 5.44sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 5.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 6.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 6.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927741 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927741 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494082 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494082 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539345 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539345 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782758819.62340188 seconds ×3 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001810 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001810 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782758820.17503953 seconds. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.06sINFOjoint_trajectory_controllerReceived new action goal + 4.06sINFOjoint_trajectory_controllerAccepted new action goal + 4.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637603 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637603 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869338 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869338 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248747 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248747 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 2.363586 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363586 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532438 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532438 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780528 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780528 ms (missed cycles : 3).[0m ×2 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782758855.55521989 seconds ×3 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742178 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742178 ms (missed cycles : 5).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782758856.09911489 seconds. ×3 + 3.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137283 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137283 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030433 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030433 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 1.938247 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938247 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.34sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782758994.79758096 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782758995.35351276 seconds. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.96sINFOobjective_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 6.463264 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463264 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (9.3e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 30 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409409 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409409 ms (missed cycles : 3).[0m ×2 + 0.10sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.10sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.10sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.10sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.11sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.11sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.17sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.17sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.17sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.17sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.17sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.18sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.18sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.18sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.53sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.54sINFOros2-15process has finished cleanly [pid 9249] ×2 + 0.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.60sINFOforce_torque_sensor_broadcasterconfigure successful + 0.60sINFOros2_control_nodeconfigure successful[0m ×6 + 0.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.92sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.92sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.92sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.92sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.93sINFOros2-9process has finished cleanly [pid 9225] ×2 + 0.94sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.98sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.98sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.98sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.98sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.98sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.99sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.99sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.99sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5).[0m ×2 + 1.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.51sINFOros2-13process has finished cleanly [pid 9232] ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.52sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.54sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.02sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.02sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.03sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.03sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.07sINFOros2-16process has finished cleanly [pid 9250] ×2 + 2.08sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 2.08sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 2.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.09sINFOplatform_velocity_controllerconfigure successful + 2.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.11sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 2.11sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.40sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.40sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.41sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.41sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.44sINFOros2-12process has finished cleanly [pid 9228] ×2 + 2.46sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.47sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.48sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.48sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.48sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.48sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.48sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.49sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.49sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.81sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.81sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.81sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.82sINFOros2-11process has finished cleanly [pid 9227] ×2 + 2.87sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 2.87sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.87sINFOplatform_velocity_controller_nav2configure successful + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 3.27sINFOros2-14process has finished cleanly [pid 9248] ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.60sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 5.44sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 5.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 6.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 6.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[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 7.253795 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.253795 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554750 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554750 ms (missed cycles : 4).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787286 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787286 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782758759.77592015 seconds ×3 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034235 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034235 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782758760.31788206 seconds. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001919 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001919 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (2.058e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOjoint_trajectory_controllerReceived new action goal + 4.46sINFOjoint_trajectory_controllerAccepted new action goal + 4.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313850 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313850 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987462 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987462 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 7.253795 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.253795 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554750 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554750 ms (missed cycles : 4).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787286 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787286 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782758759.77592015 seconds ×3 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034235 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034235 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782758760.31788206 seconds. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001919 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001919 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (2.058e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOjoint_trajectory_controllerReceived new action goal + 4.46sINFOjoint_trajectory_controllerAccepted new action goal + 4.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313850 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313850 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987462 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987462 ms (missed cycles : 2).[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: 1782758759.77592015 seconds ×3 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034235 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034235 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782758760.31788206 seconds. ×3 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001919 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001919 ms (missed cycles : 2).[0m ×2 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (2.058e-05 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.37sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.38sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313850 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313850 ms (missed cycles : 5).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987462 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987462 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782758763.24801564 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782758763.79325056 seconds. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621396 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621396 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743347 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743347 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950288 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950288 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927741 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927741 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494082 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494082 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539345 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539345 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782758819.62340188 seconds ×3 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001810 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001810 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782758820.17503953 seconds. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.06sINFOjoint_trajectory_controllerReceived new action goal + 4.06sINFOjoint_trajectory_controllerAccepted new action goal + 4.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637603 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637603 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869338 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869338 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248747 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248747 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927741 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927741 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494082 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494082 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539345 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539345 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782758819.62340188 seconds ×3 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001810 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001810 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782758820.17503953 seconds. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.06sINFOjoint_trajectory_controllerReceived new action goal + 4.06sINFOjoint_trajectory_controllerAccepted new action goal + 4.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637603 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637603 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869338 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869338 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248747 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248747 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927741 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927741 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494082 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494082 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539345 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539345 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782758819.62340188 seconds ×3 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001810 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001810 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782758820.17503953 seconds. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.06sINFOjoint_trajectory_controllerReceived new action goal + 4.06sINFOjoint_trajectory_controllerAccepted new action goal + 4.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637603 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637603 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869338 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869338 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248747 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248747 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927741 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927741 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494082 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494082 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539345 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539345 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782758819.62340188 seconds ×3 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001810 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001810 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782758820.17503953 seconds. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.06sINFOjoint_trajectory_controllerReceived new action goal + 4.06sINFOjoint_trajectory_controllerAccepted new action goal + 4.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637603 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637603 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869338 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869338 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248747 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248747 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 2.363586 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363586 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532438 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532438 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780528 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780528 ms (missed cycles : 3).[0m ×2 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782758855.55521989 seconds ×3 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742178 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742178 ms (missed cycles : 5).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782758856.09911489 seconds. ×3 + 3.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137283 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137283 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030433 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030433 ms (missed cycles : 4).[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 2.363586 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363586 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532438 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532438 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780528 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780528 ms (missed cycles : 3).[0m ×2 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782758855.55521989 seconds ×3 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742178 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742178 ms (missed cycles : 5).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782758856.09911489 seconds. ×3 + 3.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137283 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137283 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030433 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030433 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 30 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409409 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409409 ms (missed cycles : 3).[0m ×2 + 0.10sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.10sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.10sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.10sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.11sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.11sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.17sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.17sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.17sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.17sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.17sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.18sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.18sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.18sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.53sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.54sINFOros2-15process has finished cleanly [pid 9249] ×2 + 0.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.60sINFOforce_torque_sensor_broadcasterconfigure successful + 0.60sINFOros2_control_nodeconfigure successful[0m ×6 + 0.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.92sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.92sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.92sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.92sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.93sINFOros2-9process has finished cleanly [pid 9225] ×2 + 0.94sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.98sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.98sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.98sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.98sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.98sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.99sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.99sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.99sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5).[0m ×2 + 1.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.51sINFOros2-13process has finished cleanly [pid 9232] ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.52sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.54sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.02sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.02sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.03sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.03sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.07sINFOros2-16process has finished cleanly [pid 9250] ×2 + 2.08sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 2.08sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 2.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.09sINFOplatform_velocity_controllerconfigure successful + 2.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.11sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 2.11sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.40sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.40sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.41sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.41sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.44sINFOros2-12process has finished cleanly [pid 9228] ×2 + 2.46sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.47sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.48sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.48sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.48sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.48sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.48sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.49sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.49sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.81sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.81sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.81sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.82sINFOros2-11process has finished cleanly [pid 9227] ×2 + 2.87sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 2.87sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.87sINFOplatform_velocity_controller_nav2configure successful + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 3.27sINFOros2-14process has finished cleanly [pid 9248] ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.60sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 5.44sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 5.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 6.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 6.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 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 1.938247 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938247 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.34sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782758994.79758096 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782758995.35351276 seconds. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.96sINFOobjective_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 6.463264 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463264 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (9.3e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938247 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938247 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.34sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782758994.79758096 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782758995.35351276 seconds. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.96sINFOobjective_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 6.463264 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463264 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (9.3e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2).[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 1.938247 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938247 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.34sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782758994.79758096 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782758995.35351276 seconds. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.96sINFOobjective_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 6.463264 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463264 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (9.3e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2).[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 1.938247 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938247 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.34sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782758994.79758096 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782758995.35351276 seconds. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.96sINFOobjective_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 6.463264 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463264 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (9.3e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2).[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 1.938247 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938247 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.34sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782758994.79758096 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782758995.35351276 seconds. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.96sINFOobjective_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 6.463264 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463264 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (9.3e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2).[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 1.938247 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938247 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.34sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782758994.79758096 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782758995.35351276 seconds. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.96sINFOobjective_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 6.463264 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463264 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (9.3e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2).[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 1.938247 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938247 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003737 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823010 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742252 ms (missed cycles : 4).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.34sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782758994.79758096 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782758995.35351276 seconds. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.96sINFOobjective_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 6.463264 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463264 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (9.3e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095546 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal + 5.40sINFOjoint_trajectory_controllerAccepted new action goal + 5.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357074 ms (missed cycles : 2).[0m ×2 | ||||
| − 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 5.035914 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035914 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362195 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362195 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202986 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202986 ms (missed cycles : 3).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782759062.09470630 seconds ×3 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260649 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260649 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782759062.67093539 seconds. ×3 + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.62sINFOmove_groupClearing octomap...[0m ×2 + 3.62sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782759063.11107731 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363347 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363347 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782759063.65981483 seconds. ×3 + 4.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782759064.05117369 seconds ×3 + 5.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041803 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041803 ms (missed cycles : 4).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520027 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520027 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 19.7s | 15 errors · 296 warnings · 1066 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/2026-06-29-18-44-54-661615-c9f9e3555408-9091 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 8.32sINFOstatic_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' + 8.32sINFOstatic_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' + 8.32sINFOstatic_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' + 8.40sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 8.41sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 8.41sINFOcontroller_managerupdate rate is 600 Hz + 8.41sINFOcontroller_managerOverruns handling is : enabled + 8.41sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 8.41sWARNcontroller_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. + 8.48sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 8.54sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.55sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.55sINFOros2_control_node-8process started with pid [9147] ×2 + 8.55sINFOmove_group-20process started with pid [9254] ×2 + 8.55sINFOparameter_manager_node-21process started with pid [9255] ×2 + 8.55sINFOwaypoint_manager_node-22process started with pid [9256] ×2 + 8.55sINFOmove_joint_resampler_node-23process started with pid [9257] ×2 + 8.55sINFOmove_end_effector_resampler_node-24process started with pid [9264] ×2 + 8.55sINFOobjective_server_node_main-25process started with pid [9272] ×2 + 8.55sINFOcomponent_container_mt-26process started with pid [9284] ×2 + 8.56sINFOexecute_objective_bridge-27process started with pid [9285] ×2 + 8.56sINFOui_teleop_bridge-28process started with pid [9286] ×2 + 8.56sINFOweb_bridge-29process started with pid [9287] ×2 + 8.56sINFOtf2_web_republisher_node-30process started with pid [9288] ×2 + 8.56sINFOweb_video_server-31process started with pid [9289] ×2 + 8.58sINFOcomponent_container_isolated-1process started with pid [9140] ×2 + 8.58sINFOstatic_transform_publisher-2process started with pid [9141] ×2 + 8.58sINFOstatic_transform_publisher-3process started with pid [9142] ×2 + 8.58sINFOstatic_transform_publisher-4process started with pid [9143] ×2 + 8.58sINFOodom_qos_relay.py-5process started with pid [9144] ×2 + 8.58sINFOscan_to_scan_filter_chain-6process started with pid [9145] ×2 + 8.58sINFOscan_to_scan_filter_chain-7process started with pid [9146] ×2 + 8.58sINFOros2-9process started with pid [9225] ×2 + 8.58sINFOros2-10process started with pid [9226] ×2 + 8.58sINFOros2-11process started with pid [9227] ×2 + 8.58sINFOros2-12process started with pid [9228] ×2 + 8.58sINFOros2-13process started with pid [9232] ×2 + 8.58sINFOros2-14process started with pid [9248] ×2 + 8.59sINFOcontroller_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. + 8.59sINFOros2-15process started with pid [9249] ×2 + 8.59sINFOros2-16process started with pid [9250] ×2 + 8.59sINFOros2-17process started with pid [9251] ×2 + 8.59sINFOros2-18process started with pid [9252] ×2 + 8.59sINFOros2-19process started with pid [9253] ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943464 ms (missed cycles : 3). + 8.66sINFOcontroller_serverCreating controller server + 8.67sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 8.67sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 8.67sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 8.67sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 8.67sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 8.68sINFOstatic_transform_publisherfrom 'mj_world' to 'world'[0m ×2 + 8.68sINFOstatic_transform_publisherfrom 'map' to 'odom'[0m ×2 + 8.68sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 8.68sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 8.68sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 8.68sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 8.68sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 8.68sWARNros2_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 ×2 + 8.68sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943464 ms (missed cycles : 3).[0m ×2 + 8.70sINFOlocal_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. + 8.71sINFOlocal_costmap.local_costmapCreating Costmap + 8.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 8.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 8.75sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 8.75sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 8.77sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 8.77sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 8.77sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 8.77sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 8.78sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 8.78sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 8.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 8.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 8.80sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 8.81sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 8.82sINFOmap_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. + 8.82sINFOmap_serverCreating + 8.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 8.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 8.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 8.84sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 8.88sINFOsmoother_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. + 8.90sINFOsmoother_serverCreating smoother server + 8.91sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 8.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 8.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 8.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 8.93sINFOrobot_state_publisherRobot initialized + 8.93sINFOcomponent_container_mtRobot initialized[0m ×2 + 8.93sINFOcontroller_managerReceived robot description from topic. + 8.93sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 8.93sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 8.93sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 8.94sINFOlifecycle_manager_localizationCreating + 8.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 8.97sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 8.97sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 8.97sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 8.98sINFOmap_serverConfiguring + 8.98sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 8.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 8.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 8.98sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 8.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 8.99sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 8.99sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 8.99sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 9.00sINFOplanner_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. + 9.03sINFOplanner_serverCreating + 9.04sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 9.05sINFOmap_serverActivating + 9.05sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 9.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.06sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.07sINFOglobal_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. + 9.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 9.08sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 9.08sINFOglobal_costmap.global_costmapCreating Costmap + 9.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.08sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 9.08sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 9.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 9.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 9.10sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 9.10sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 9.10sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.10sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.10sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 9.13sINFObehavior_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. + 9.16sINFOlifecycle_manager_localizationServer map_server connected with bond. + 9.16sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 9.16sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 9.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 9.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 9.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.25sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.36168 seconds + 9.25sINFOmove_groupLoaded robot model in 0.36168 seconds[0m ×2 + 9.25sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 9.25sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 9.25sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 9.26sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.26sINFObt_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. + 9.29sINFObt_navigatorCreating + 9.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 9.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 9.30sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.30sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.33sWARNlaser_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. + 9.33sWARNlaser_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. + 9.33sWARNscan_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 ×4 + 9.37sINFOwaypoint_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. + 9.38sINFOwaypoint_followerCreating + 9.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 9.39sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 9.40sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.40sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.43sINFOvelocity_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. + 9.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 9.48sINFOlifecycle_manager_navigationCreating + 9.49sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 9.50sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 9.50sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 9.50sINFOcontroller_serverConfiguring controller interface + 9.50sINFOcontroller_servergetting progress checker plugins.. + 9.50sINFOcontroller_servergetting goal checker plugins.. + 9.50sINFOcontroller_serverController frequency set to 20.0000Hz + 9.50sINFOlocal_costmap.local_costmapConfiguring + 9.51sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 9.52sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 9.59sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 9.59sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 9.59sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 9.60sINFOwaypoint_manager_nodeLoaded robot model in 0.285627 seconds[0m ×2 + 9.61sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 9.61sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.63sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 9.64sINFOcontroller_serverController Server has progress_checker progress checkers available. + 9.64sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501883 ms (missed cycles : 2). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501883 ms (missed cycles : 2).[0m ×2 + 9.66sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 9.66sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 9.70sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 9.72sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 9.72sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 9.73sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 9.73sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 9.74sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 9.74sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 9.74sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 9.74sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 9.75sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 9.75sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 9.76sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 9.77sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 9.77sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 9.77sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 9.77sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 9.78sINFOcontroller_serverOptimizer reset + 9.80sINFOcontroller_serverController Server has FollowPath controllers available. + 9.82sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 9.82sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 9.82sWARNmove_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. + 9.82sWARNmove_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. + 9.82sWARNmove_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 ×2 + 9.82sWARNmove_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 ×2 + 9.82sWARNmove_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. + 9.82sWARNmove_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. + 9.82sWARNmove_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 ×2 + 9.82sWARNmove_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 ×2 + 9.82sWARNmove_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. + 9.82sWARNmove_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. + 9.83sWARNmove_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. + 9.83sWARNmove_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 ×2 + 9.83sWARNmove_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 ×2 + 9.83sWARNmove_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. + 9.83sWARNmove_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 ×2 + 9.83sWARNmove_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 ×2 + 9.83sWARNmove_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. + 9.83sWARNmove_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. + 9.84sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 9.84sWARNmove_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 ×2 + 9.84sWARNmove_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 ×2 + 9.84sINFOsmoother_serverConfiguring smoother server + 9.87sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 9.89sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 9.91sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 9.91sINFOplanner_serverConfiguring + 9.91sINFOglobal_costmap.global_costmapConfiguring + 9.93sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 9.94sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 9.94sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 9.94sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 9.96sWARNwaypoint_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. + 9.96sWARNwaypoint_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. + 9.96sWARNwaypoint_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 ×2 + 9.97sWARNwaypoint_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 ×2 + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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 ×2 + 9.97sWARNwaypoint_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 ×2 + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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 ×2 + 9.97sWARNwaypoint_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 ×2 + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.97sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.97sWARNwaypoint_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. + 9.98sWARNwaypoint_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. + 9.98sWARNwaypoint_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. + 9.98sWARNwaypoint_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. + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 9.98sWARNwaypoint_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 ×2 + 10.07sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 10.07sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 10.07sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 10.11sFATALplanner_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 + 10.11sINFOplanner_serverCleaning up + 10.11sINFOglobal_costmap.global_costmapCleaning up + 10.14sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.14sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 10.21sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 10.21sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 10.21sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 10.21sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 10.28sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 10.28sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×6 + 10.41sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 10.42sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 10.43sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 10.43sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 10.43sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 10.43sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 10.44sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 10.44sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 10.44sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 10.44sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 10.44sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 10.44sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 10.44sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 10.44sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 10.44sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 10.44sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 10.45sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 10.45sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 10.45sINFOmove_groupStarting planning scene monitor[0m ×2 + 10.45sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 10.45sINFOmove_groupListening to '/planning_scene'[0m ×2 + 10.45sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 10.45sINFOmove_groupListening to 'collision_object'[0m ×2 + 10.45sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 10.45sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 10.86sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 10.86sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 10.86sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 10.86sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 10.87sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 10.87sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 10.87sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 10.87sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 10.87sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 10.87sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 10.87sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 10.87sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 10.87sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 10.87sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 10.87sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 10.87sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 10.87sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 10.87sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 10.87sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 10.87sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 10.87sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 10.87sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 10.87sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 10.89sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 10.89sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 10.89sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 11.04sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.04sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 11.04sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.04sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 11.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 11.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 11.16sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 11.16sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 11.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 11.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 11.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 11.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 11.35sINFOobjective_server_node[2026-06-29 18:45:08.438] [moveit_pro_license] [info] ×2 + 11.35sINFOobjective_server_node************************************************* ×4 + 11.35sINFOobjective_server_node* MoveIt Pro License ×2 + 11.35sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 11.38sINFOros2_control_node[2026-06-29 18:45:08.469] [info] Controller state will be published at 20 Hz. ×2 + 11.38sINFOros2_control_node[2026-06-29 18:45:08.471] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.41sINFOobjective_server_nodeLoaded robot model in 0.0212944 seconds[0m ×2 + 11.41sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 11.41sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 11.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 11.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 11.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 11.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 11.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 11.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 11.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 11.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 11.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 11.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 11.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 11.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 11.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 11.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 11.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 11.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.51sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.51sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 11.53sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 11.53sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769150 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769150 ms (missed cycles : 3).[0m ×2 + 11.66sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 11.66sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 11.66sWARNobjective_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. + 11.66sWARNobjective_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. + 11.66sWARNobjective_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. + 11.66sWARNobjective_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. + 11.66sWARNobjective_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. + 11.66sWARNobjective_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. + 11.66sWARNobjective_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 ×2 + 11.66sWARNobjective_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. + 11.66sWARNobjective_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 ×2 + 11.66sWARNobjective_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. + 11.66sWARNobjective_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 ×2 + 11.66sWARNobjective_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 ×2 + 11.66sWARNobjective_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. + 11.67sWARNobjective_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. + 11.67sWARNobjective_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 ×2 + 11.67sWARNobjective_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 ×2 + 11.67sWARNobjective_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 ×2 + 11.67sWARNobjective_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 ×2 + 11.67sWARNobjective_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 ×2 + 11.67sWARNobjective_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 ×2 + 11.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 11.69sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 11.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 11.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 11.71sWARNcomponent_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 ×2 + 11.73sINFOobjective_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. ×2 + 11.73sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 11.74sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 11.74sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 11.74sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 11.74sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 11.74sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 11.74sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 11.74sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 11.74sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 11.74sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 11.74sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 11.74sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 11.74sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 11.75sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 11.76sINFOros2-18process has finished cleanly [pid 9252] ×2 + 11.79sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 11.79sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 11.79sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 11.79sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 11.80sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 11.80sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 11.80sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 11.80sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 11.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 11.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 11.80sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 11.80sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 12.10sINFOcomponent_container_mtLoaded robot model in 0.386591 seconds[0m ×2 + 12.10sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 12.10sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.13sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.13sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 12.13sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.13sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 12.16sINFOros2-10process has finished cleanly [pid 9226] ×2 + 12.20sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 12.20sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 12.25sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 12.25sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 12.26sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 12.26sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 12.36sWARNplanning_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. + 12.36sWARNplanning_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. + 12.36sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.36sWARNplanning_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. + 12.36sWARNplanning_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. + 12.36sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.36sWARNplanning_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. + 12.36sWARNplanning_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. + 12.36sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.37sWARNplanning_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. + 12.37sWARNplanning_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. + 12.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.37sWARNplanning_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. + 12.37sWARNplanning_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. + 12.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.37sWARNplanning_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. + 12.37sWARNplanning_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. + 12.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.37sWARNplanning_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. + 12.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.37sWARNplanning_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. + 12.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.37sWARNplanning_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. + 12.37sWARNplanning_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. + 12.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.37sWARNplanning_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. + 12.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.37sWARNplanning_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. + 12.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.37sWARNplanning_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. + 12.37sWARNplanning_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. + 12.38sWARNplanning_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. + 12.38sWARNplanning_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. + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.38sWARNplanning_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. + 12.38sWARNplanning_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. + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.38sWARNplanning_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. + 12.38sWARNplanning_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. + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.38sWARNplanning_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. + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.38sWARNplanning_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. + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.51sINFOros2_control_node[2026-06-29 18:45:09.602] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.52sINFOros2_control_node[2026-06-29 18:45:09.605] [info] Controller state will be published at 10 Hz. ×2 + 12.52sINFOros2_control_node[2026-06-29 18:45:09.606] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227737 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227737 ms (missed cycles : 2).[0m ×2 + 12.70sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 12.70sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 12.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 12.71sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 12.74sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 12.74sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 12.79sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 12.79sINFOmove_groupMoveGroup debug mode is ON + 12.79sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 12.79sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 12.79sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 12.84sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 12.84sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 12.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 12.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 12.87sINFOros2-17process has finished cleanly [pid 9251] ×2 + 12.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 12.88sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 12.88sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 12.88sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.89sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 12.89sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.89sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.89sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 12.89sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 12.91sWARNobjective_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/. ×2 + 12.91sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 12.91sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 12.91sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 12.92sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 12.92sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 12.92sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 12.92sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 12.92sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 12.92sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 12.92sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 12.97sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 13.02sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 13.09sINFOmove_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
********************************************************
+ 13.09sINFOmove_group ×8 + 13.09sINFOmove_group******************************************************** ×4 + 13.09sINFOmove_group* MoveGroup using: ×2 + 13.09sINFOmove_group* - apply_planning_scene_service ×2 + 13.09sINFOmove_group* - clear_octomap_service ×2 + 13.09sINFOmove_group* - ExecuteTaskSolution ×2 + 13.09sINFOmove_group* - get_group_urdf ×2 + 13.09sINFOmove_group* - load_geometry_from_file ×2 + 13.09sINFOmove_group* - get_planning_scene_service ×2 + 13.09sINFOmove_group* - kinematics_service ×2 + 13.09sINFOmove_group* - save_geometry_to_file ×2 + 13.09sINFOmove_group* - GetPlanningGroups ×2 + 13.09sINFOmove_group* - SetActiveControllerService ×2 + 13.09sINFOmove_group* - URDFPlanningSceneCapability ×2 + 13.09sINFOmove_group[0m ×2 + 13.09sINFOmove_group[92mYou can start planning now![0m ×2 + 13.13sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 13.13sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 13.16sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 13.16sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 13.16sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 13.16sINFOstreaming_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) + 13.16sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 13.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 13.16sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 13.20sINFOros2_control_node[2026-06-29 18:45:10.291] [info] Controller state will be published at 20 Hz. ×2 + 13.21sINFOros2_control_node[2026-06-29 18:45:10.292] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.48sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 13.55sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 13.55sINFOros2-19process has finished cleanly [pid 9253] ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409409 ms (missed cycles : 3). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409409 ms (missed cycles : 3).[0m ×2 + 13.80sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 13.80sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 13.80sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 13.80sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 13.80sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 13.81sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 13.87sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 13.87sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 13.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 13.87sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 13.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 13.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 13.87sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 13.87sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 13.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 13.87sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 13.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 13.87sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 13.87sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 13.88sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 13.88sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 14.22sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 14.22sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 14.23sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 14.23sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 14.23sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 14.23sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 14.23sINFOros2-15process has finished cleanly [pid 9249] ×2 + 14.28sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 14.28sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 14.28sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 14.29sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 14.29sINFOforce_torque_sensor_broadcasterconfigure successful + 14.29sINFOros2_control_nodeconfigure successful[0m ×6 + 14.30sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 14.30sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 14.30sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 14.30sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 14.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 14.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 14.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 14.61sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 14.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 14.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 14.63sINFOros2-9process has finished cleanly [pid 9225] ×2 + 14.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 14.63sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 14.67sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 14.68sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 14.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 14.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 14.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 14.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 14.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 14.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 14.69sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 14.69sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5).[0m ×2 + 15.16sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 15.16sINFOcontroller_managerLoading controller 'velocity_force_controller' + 15.16sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 15.16sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 15.16sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 15.16sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 15.20sINFOros2-13process has finished cleanly [pid 9232] ×2 + 15.22sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 15.22sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 15.22sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 15.22sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 15.47sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 15.47sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 15.47sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 15.72sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 15.72sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 15.72sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 15.72sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 15.72sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 15.73sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 15.76sINFOros2-16process has finished cleanly [pid 9250] ×2 + 15.78sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 15.78sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 15.78sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 15.78sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 15.78sINFOplatform_velocity_controllerconfigure successful + 15.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 15.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 15.80sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 15.80sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 16.10sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 16.10sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 16.10sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 16.10sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 16.11sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 16.11sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 16.14sINFOros2-12process has finished cleanly [pid 9228] ×2 + 16.16sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 16.16sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 16.17sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 16.17sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 16.18sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 16.18sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 16.18sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 16.18sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 16.18sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 16.18sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 16.19sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 16.19sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 16.19sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 16.19sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 16.51sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 16.51sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 16.51sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 16.51sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 16.51sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 16.51sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 16.52sINFOros2-11process has finished cleanly [pid 9227] ×2 + 16.56sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 16.56sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 16.56sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 16.57sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 16.57sINFOplatform_velocity_controller_nav2configure successful + 16.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 16.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 16.97sINFOros2-14process has finished cleanly [pid 9248] ×2 + 17.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 17.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.30sINFOmove_groupClearing octomap...[0m ×2 + 17.30sINFOmove_groupOctomap cleared.[0m ×2 + 17.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 17.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 17.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 18.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 18.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 19.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 19.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 19.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 19.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 19.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 19.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 19.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 19.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 19.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 19.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 19.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 19.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 19.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 19.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 19.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 19.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 19.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 19.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 19.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 19.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 19.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 19.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 19.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 19.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 19.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 33 warnings · 277 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.01sINFOros2-15process has finished cleanly [pid 9249] ×2 + 0.06sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOforce_torque_sensor_broadcasterconfigure successful + 0.07sINFOros2_control_nodeconfigure successful[0m ×6 + 0.07sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.07sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.08sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.39sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.39sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.39sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.39sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.41sINFOros2-9process has finished cleanly [pid 9225] ×2 + 0.41sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.41sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.45sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.45sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.45sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.45sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.45sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.46sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.47sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.47sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5).[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.93sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.94sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.94sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.99sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.01sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.24sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.25sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 1.25sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.49sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.49sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.49sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.50sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.50sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.54sINFOros2-16process has finished cleanly [pid 9250] ×2 + 1.55sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.55sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.55sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.55sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.56sINFOplatform_velocity_controllerconfigure successful + 1.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.58sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.58sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 1.87sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.87sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.87sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.88sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.88sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.91sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.94sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.94sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.95sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.95sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.95sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.95sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.95sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.95sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.95sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.95sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.96sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.96sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.28sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.28sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.28sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.28sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.28sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.28sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.29sINFOros2-11process has finished cleanly [pid 9227] ×2 + 2.34sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 2.34sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 2.34sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.34sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.34sINFOplatform_velocity_controller_nav2configure successful + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 2.74sINFOros2-14process has finished cleanly [pid 9248] ×2 + 3.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 3.07sINFOmove_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 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 5.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 6.58sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.67sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.5s | 33 warnings · 325 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409409 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409409 ms (missed cycles : 3).[0m ×2 + 0.10sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.10sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.10sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.10sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.11sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.11sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.17sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.17sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.17sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.17sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.17sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.18sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.18sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.18sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.53sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.54sINFOros2-15process has finished cleanly [pid 9249] ×2 + 0.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.60sINFOforce_torque_sensor_broadcasterconfigure successful + 0.60sINFOros2_control_nodeconfigure successful[0m ×6 + 0.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.92sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.92sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.92sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.92sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.93sINFOros2-9process has finished cleanly [pid 9225] ×2 + 0.94sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.98sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.98sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.98sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.98sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.98sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.99sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.99sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.99sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5).[0m ×2 + 1.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.51sINFOros2-13process has finished cleanly [pid 9232] ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.52sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.54sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.02sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.02sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.03sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.03sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.07sINFOros2-16process has finished cleanly [pid 9250] ×2 + 2.08sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 2.08sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 2.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.09sINFOplatform_velocity_controllerconfigure successful + 2.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.11sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 2.11sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.40sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.40sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.41sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.41sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.44sINFOros2-12process has finished cleanly [pid 9228] ×2 + 2.46sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.47sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.48sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.48sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.48sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.48sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.48sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.49sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.49sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.81sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.81sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.81sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.82sINFOros2-11process has finished cleanly [pid 9227] ×2 + 2.87sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 2.87sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.87sINFOplatform_velocity_controller_nav2configure successful + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 3.27sINFOros2-14process has finished cleanly [pid 9248] ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.60sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 5.44sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 5.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 6.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 6.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 7.11sWARNobjective_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 + 7.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.19sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.33sINFOjoint_trajectory_controllerReceived new action goal + 7.33sINFOjoint_trajectory_controllerAccepted new action goal + 7.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.34sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 4 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-29-18-44-54-661615-c9f9e3555408-9091 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 30 warnings · 277 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.01sINFOros2-15process has finished cleanly [pid 9249] ×2 + 0.06sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOforce_torque_sensor_broadcasterconfigure successful + 0.07sINFOros2_control_nodeconfigure successful[0m ×6 + 0.07sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.07sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.08sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.39sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.39sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.39sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.39sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.41sINFOros2-9process has finished cleanly [pid 9225] ×2 + 0.41sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.41sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.45sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.45sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.45sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.45sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.45sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.46sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.47sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.47sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5).[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.93sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.94sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.94sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.99sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.01sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.24sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.25sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 1.25sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.49sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.49sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.49sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.50sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.50sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.54sINFOros2-16process has finished cleanly [pid 9250] ×2 + 1.55sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.55sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.55sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.55sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.56sINFOplatform_velocity_controllerconfigure successful + 1.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.58sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.58sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 1.87sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.87sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.87sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.88sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.88sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.91sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.94sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.94sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.95sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.95sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.95sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.95sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.95sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.95sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.95sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.95sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.96sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.96sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.28sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.28sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.28sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.28sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.28sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.28sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.29sINFOros2-11process has finished cleanly [pid 9227] ×2 + 2.34sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 2.34sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 2.34sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.34sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.34sINFOplatform_velocity_controller_nav2configure successful + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 2.74sINFOros2-14process has finished cleanly [pid 9248] ×2 + 3.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 3.07sINFOmove_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 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 5.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 6.58sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.67sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 30 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409409 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409409 ms (missed cycles : 3).[0m ×2 + 0.10sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.10sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.10sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.10sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.11sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.11sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.17sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.17sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.17sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.17sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.17sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.18sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.18sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.18sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.53sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.54sINFOros2-15process has finished cleanly [pid 9249] ×2 + 0.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.60sINFOforce_torque_sensor_broadcasterconfigure successful + 0.60sINFOros2_control_nodeconfigure successful[0m ×6 + 0.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.92sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.92sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.92sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.92sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.93sINFOros2-9process has finished cleanly [pid 9225] ×2 + 0.94sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.98sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.98sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.98sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.98sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.98sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.99sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.99sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.99sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5).[0m ×2 + 1.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.51sINFOros2-13process has finished cleanly [pid 9232] ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.52sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.54sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.02sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.02sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.03sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.03sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.07sINFOros2-16process has finished cleanly [pid 9250] ×2 + 2.08sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 2.08sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 2.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.09sINFOplatform_velocity_controllerconfigure successful + 2.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.11sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 2.11sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.40sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.40sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.41sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.41sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.44sINFOros2-12process has finished cleanly [pid 9228] ×2 + 2.46sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.47sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.48sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.48sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.48sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.48sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.48sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.49sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.49sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.81sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.81sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.81sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.82sINFOros2-11process has finished cleanly [pid 9227] ×2 + 2.87sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 2.87sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.87sINFOplatform_velocity_controller_nav2configure successful + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 3.27sINFOros2-14process has finished cleanly [pid 9248] ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.60sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 5.44sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 5.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 6.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 6.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 30 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409409 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409409 ms (missed cycles : 3).[0m ×2 + 0.10sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.10sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.10sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.10sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.11sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.11sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.17sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.17sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.17sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.17sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.17sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.18sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.18sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.18sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.53sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.54sINFOros2-15process has finished cleanly [pid 9249] ×2 + 0.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.60sINFOforce_torque_sensor_broadcasterconfigure successful + 0.60sINFOros2_control_nodeconfigure successful[0m ×6 + 0.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.92sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.92sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.92sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.92sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.93sINFOros2-9process has finished cleanly [pid 9225] ×2 + 0.94sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.98sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.98sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.98sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.98sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.98sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.99sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.99sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.99sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5).[0m ×2 + 1.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.51sINFOros2-13process has finished cleanly [pid 9232] ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.52sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.54sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.02sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.02sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.03sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.03sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.07sINFOros2-16process has finished cleanly [pid 9250] ×2 + 2.08sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 2.08sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 2.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.09sINFOplatform_velocity_controllerconfigure successful + 2.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.11sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 2.11sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.40sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.40sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.41sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.41sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.44sINFOros2-12process has finished cleanly [pid 9228] ×2 + 2.46sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.47sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.48sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.48sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.48sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.48sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.48sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.49sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.49sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.81sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.81sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.81sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.82sINFOros2-11process has finished cleanly [pid 9227] ×2 + 2.87sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 2.87sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.87sINFOplatform_velocity_controller_nav2configure successful + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 3.27sINFOros2-14process has finished cleanly [pid 9248] ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.60sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 5.44sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 5.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 6.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 6.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 30 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409409 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409409 ms (missed cycles : 3).[0m ×2 + 0.10sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.10sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.10sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.10sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.11sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.11sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.17sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.17sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.17sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.17sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.17sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.18sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.18sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.18sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.53sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.54sINFOros2-15process has finished cleanly [pid 9249] ×2 + 0.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.60sINFOforce_torque_sensor_broadcasterconfigure successful + 0.60sINFOros2_control_nodeconfigure successful[0m ×6 + 0.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.92sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.92sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.92sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.92sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.93sINFOros2-9process has finished cleanly [pid 9225] ×2 + 0.94sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.98sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.98sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.98sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.98sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.98sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.99sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.99sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.99sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339698 ms (missed cycles : 5).[0m ×2 + 1.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.51sINFOros2-13process has finished cleanly [pid 9232] ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.52sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.54sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.02sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.02sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.03sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.03sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.07sINFOros2-16process has finished cleanly [pid 9250] ×2 + 2.08sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 2.08sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 2.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.09sINFOplatform_velocity_controllerconfigure successful + 2.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.11sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 2.11sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.40sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.40sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.41sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.41sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.44sINFOros2-12process has finished cleanly [pid 9228] ×2 + 2.46sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.47sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.48sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.48sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.48sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.48sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.48sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.49sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.49sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.81sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.81sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 2.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.81sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 2.82sINFOros2-11process has finished cleanly [pid 9227] ×2 + 2.87sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 2.87sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.87sINFOplatform_velocity_controller_nav2configure successful + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 3.27sINFOros2-14process has finished cleanly [pid 9248] ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.60sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 5.44sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 5.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 6.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 6.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 30 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262588 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262588 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 27 warnings · 219 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.05sINFOros2-13process has finished cleanly [pid 9232] ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.556] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.558] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-06-29 18:45:12.559] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9250] ×2 + 0.62sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.62sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.63sINFOplatform_velocity_controllerconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×4 + 0.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843686 ms (missed cycles : 2).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 0.98sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.35sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.35sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta + 1.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.35sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_alqm7s_n --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_fgac88bd --params-file /tmp/launch_params_re0eonta [0m ×2 + 1.36sINFOros2-11process has finished cleanly [pid 9227] ×2 + 1.41sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 1.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.41sINFOplatform_velocity_controller_nav2configure successful + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 1.81sINFOros2-14process has finished cleanly [pid 9248] ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782758714.38545370 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.14sINFOmove_groupClearing octomap...[0m ×2 + 2.14sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782758714.39579821 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782758714.94616818 seconds. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782758714.95629430 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192127 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782758715.49746490 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782758715.64797330 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782758716.21719790 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3). + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310295 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782758716.26731586 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782758716.81270933 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780870 ms (missed cycles : 2).[0m ×2 + 5.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304804 ms (missed cycles : 2).[0m ×2 | ||||