67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
24.1s
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 | 70.7s | 3 errors · 234 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734674 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734674 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156971 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156971 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579999 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579999 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.773148 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.773148 ms (missed cycles : 6).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGot request to cancel goal + 3.82sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.82sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.82sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782841900.14101791 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422511 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422511 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782841900.69600844 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345640 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345640 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 6.06sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.06sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.06sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010313 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010313 ms (missed cycles : 4).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402211 ms (missed cycles : 4). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402211 ms (missed cycles : 4).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893657 ms (missed cycles : 3). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893657 ms (missed cycles : 3).[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710214 ms (missed cycles : 6). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710214 ms (missed cycles : 6).[0m ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702816 ms (missed cycles : 3). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702816 ms (missed cycles : 3).[0m ×2 + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858945 ms (missed cycles : 2). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858945 ms (missed cycles : 2).[0m ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919663 ms (missed cycles : 3). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919663 ms (missed cycles : 3).[0m ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888377 ms (missed cycles : 3). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888377 ms (missed cycles : 3).[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267620 ms (missed cycles : 3). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267620 ms (missed cycles : 3).[0m ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248444 ms (missed cycles : 2). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248444 ms (missed cycles : 2).[0m ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270134 ms (missed cycles : 4). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270134 ms (missed cycles : 4).[0m ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257612 ms (missed cycles : 4). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257612 ms (missed cycles : 4).[0m ×2 + 18.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998446 ms (missed cycles : 2). + 18.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998446 ms (missed cycles : 2).[0m ×2 + 19.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152329 ms (missed cycles : 2). + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152329 ms (missed cycles : 2).[0m ×2 + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004995 ms (missed cycles : 2). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004995 ms (missed cycles : 2).[0m ×2 + 21.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665878 ms (missed cycles : 2). + 21.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665878 ms (missed cycles : 2).[0m ×2 + 22.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022429 ms (missed cycles : 3). + 22.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022429 ms (missed cycles : 3).[0m ×2 + 23.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.713909 ms (missed cycles : 6). + 23.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.713909 ms (missed cycles : 6).[0m ×2 + 24.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827886 ms (missed cycles : 2). + 24.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827886 ms (missed cycles : 2).[0m ×2 + 25.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176504 ms (missed cycles : 2). + 25.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176504 ms (missed cycles : 2).[0m ×2 + 26.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.066080 ms (missed cycles : 7). + 26.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.066080 ms (missed cycles : 7).[0m ×2 + 27.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129480 ms (missed cycles : 3). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129480 ms (missed cycles : 3).[0m ×2 + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499746 ms (missed cycles : 2). + 28.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499746 ms (missed cycles : 2).[0m ×2 + 29.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392960 ms (missed cycles : 3). + 30.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392960 ms (missed cycles : 3).[0m ×2 + 31.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945755 ms (missed cycles : 3). + 31.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945755 ms (missed cycles : 3).[0m ×2 + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037312 ms (missed cycles : 2). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037312 ms (missed cycles : 2).[0m ×2 + 33.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276451 ms (missed cycles : 4). + 33.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276451 ms (missed cycles : 4).[0m ×2 + 33.36sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.36sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.73sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239065 ms (missed cycles : 2). + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239065 ms (missed cycles : 2).[0m ×2 + 34.38sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×9 + 34.38sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 35.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622363 ms (missed cycles : 2). + 35.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622363 ms (missed cycles : 2).[0m ×2 + 36.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916448 ms (missed cycles : 3). + 36.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916448 ms (missed cycles : 3).[0m ×2 + 37.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.267213 ms (missed cycles : 7). + 37.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.267213 ms (missed cycles : 7).[0m ×2 + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954481 ms (missed cycles : 3). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954481 ms (missed cycles : 3).[0m ×2 + 39.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256034 ms (missed cycles : 3). + 39.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256034 ms (missed cycles : 3).[0m ×2 + 39.42sINFOros2_control_nodeMuJoCo sim: 1.20% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 40.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964239 ms (missed cycles : 3). + 40.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964239 ms (missed cycles : 3).[0m ×2 + 41.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082801 ms (missed cycles : 3). + 41.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082801 ms (missed cycles : 3).[0m ×2 + 42.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895106 ms (missed cycles : 2). + 42.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895106 ms (missed cycles : 2).[0m ×2 + 43.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818324 ms (missed cycles : 2). + 43.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818324 ms (missed cycles : 2).[0m ×2 + 44.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415979 ms (missed cycles : 2). + 44.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415979 ms (missed cycles : 2).[0m ×2 + 45.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.971662 ms (missed cycles : 6). + 45.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.971662 ms (missed cycles : 6).[0m ×2 + 46.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299817 ms (missed cycles : 4). + 46.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299817 ms (missed cycles : 4).[0m ×2 + 47.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020849 ms (missed cycles : 3). + 47.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020849 ms (missed cycles : 3).[0m ×2 + 48.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922553 ms (missed cycles : 2). + 48.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922553 ms (missed cycles : 2).[0m ×2 + 49.43sINFOobjective_server_nodePlanning for 38 path waypoints. ×3 + 49.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789466 ms (missed cycles : 6). + 49.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789466 ms (missed cycles : 6).[0m ×2 + 50.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415791 ms (missed cycles : 4). + 50.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415791 ms (missed cycles : 4).[0m ×2 + 51.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244797 ms (missed cycles : 2). + 51.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244797 ms (missed cycles : 2).[0m ×2 + 52.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.766763 ms (missed cycles : 6). + 52.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.766763 ms (missed cycles : 6).[0m ×2 + 53.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740778 ms (missed cycles : 3). + 53.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740778 ms (missed cycles : 3).[0m ×2 + 54.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.809707 ms (missed cycles : 6). + 54.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.809707 ms (missed cycles : 6).[0m ×2 + 55.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922710 ms (missed cycles : 3). + 55.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922710 ms (missed cycles : 3).[0m ×2 + 56.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.935620 ms (missed cycles : 8). + 56.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.935620 ms (missed cycles : 8).[0m ×2 + 58.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919754 ms (missed cycles : 3). + 58.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919754 ms (missed cycles : 3).[0m ×2 + 59.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368552 ms (missed cycles : 3). + 59.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368552 ms (missed cycles : 3).[0m ×2 + 60.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.167115 ms (missed cycles : 9). + 60.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.167115 ms (missed cycles : 9).[0m ×2 + 61.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183070 ms (missed cycles : 2). + 61.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183070 ms (missed cycles : 2).[0m ×2 + 61.65sINFOobjective_server_nodePlanning for 42 path waypoints. ×3 + 62.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571527 ms (missed cycles : 3). + 62.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571527 ms (missed cycles : 3).[0m ×2 + 63.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319039 ms (missed cycles : 2). + 63.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319039 ms (missed cycles : 2).[0m ×2 + 64.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.629844 ms (missed cycles : 5). + 64.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.629844 ms (missed cycles : 5).[0m ×2 + 65.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.073452 ms (missed cycles : 8). + 65.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.073452 ms (missed cycles : 8).[0m ×2 + 66.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757161 ms (missed cycles : 3). + 66.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757161 ms (missed cycles : 3).[0m ×2 + 67.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642243 ms (missed cycles : 3). + 67.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642243 ms (missed cycles : 3).[0m ×2 + 68.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064487 ms (missed cycles : 2). + 68.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064487 ms (missed cycles : 2).[0m ×2 + 69.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490256 ms (missed cycles : 3). + 69.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490256 ms (missed cycles : 3).[0m ×2 + 70.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3). + 70.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3).[0m ×2 + 71.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3). + 71.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3).[0m ×2 + 72.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3). + 72.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3).[0m ×2 + 73.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4). + 73.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4).[0m ×2 + 74.53sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841970.81621695 seconds ×3 + 74.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3). + 74.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3).[0m ×2 + 75.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841971.38724828 seconds. ×3 + 75.51sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 75.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2). + 75.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2).[0m ×2 + 76.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5). + 76.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.8s | 186 warnings · 101 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067232 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067232 ms (missed cycles : 2).[0m ×2 + 0.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782841738.76111150 seconds ×3 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782841739.31735492 seconds. ×3 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.805917 ms (missed cycles : 7). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.805917 ms (missed cycles : 7).[0m ×2 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.60sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.60sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.60sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.61sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065438 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065438 ms (missed cycles : 5).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838117 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838117 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782841742.43754649 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027576 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027576 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782841742.99427438 seconds. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.936555 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.936555 ms (missed cycles : 5).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741032 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741032 ms (missed cycles : 3).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092860 ms (missed cycles : 7). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092860 ms (missed cycles : 7).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849294 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849294 ms (missed cycles : 3).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421053 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421053 ms (missed cycles : 3).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663243 ms (missed cycles : 4). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663243 ms (missed cycles : 4).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358952 ms (missed cycles : 3). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358952 ms (missed cycles : 3).[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696140 ms (missed cycles : 3). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696140 ms (missed cycles : 3).[0m ×2 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002836 ms (missed cycles : 5). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002836 ms (missed cycles : 5).[0m ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616170 ms (missed cycles : 4). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616170 ms (missed cycles : 4).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422175 ms (missed cycles : 4). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422175 ms (missed cycles : 4).[0m ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370855 ms (missed cycles : 3). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370855 ms (missed cycles : 3).[0m ×2 + 16.97sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179789 ms (missed cycles : 3). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179789 ms (missed cycles : 3).[0m ×2 + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841912 ms (missed cycles : 2). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841912 ms (missed cycles : 2).[0m ×2 + 19.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754169 ms (missed cycles : 2). + 19.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754169 ms (missed cycles : 2).[0m ×2 + 20.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472947 ms (missed cycles : 3). + 20.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472947 ms (missed cycles : 3).[0m ×2 + 21.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202701 ms (missed cycles : 2). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202701 ms (missed cycles : 2).[0m ×2 + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992368 ms (missed cycles : 2). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992368 ms (missed cycles : 2).[0m ×2 + 23.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327158 ms (missed cycles : 4). + 23.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327158 ms (missed cycles : 4).[0m ×2 + 25.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505918 ms (missed cycles : 4). + 25.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505918 ms (missed cycles : 4).[0m ×2 + 26.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387985 ms (missed cycles : 4). + 26.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387985 ms (missed cycles : 4).[0m ×2 + 27.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705564 ms (missed cycles : 4). + 27.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705564 ms (missed cycles : 4).[0m ×2 + 28.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638207 ms (missed cycles : 3). + 28.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638207 ms (missed cycles : 3).[0m ×2 + 29.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321524 ms (missed cycles : 2). + 29.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321524 ms (missed cycles : 2).[0m ×2 + 30.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190293 ms (missed cycles : 4). + 30.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190293 ms (missed cycles : 4).[0m ×2 + 31.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777475 ms (missed cycles : 5). + 31.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777475 ms (missed cycles : 5).[0m ×2 + 32.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089169 ms (missed cycles : 2). + 32.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089169 ms (missed cycles : 2).[0m ×2 + 33.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772398 ms (missed cycles : 2). + 33.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772398 ms (missed cycles : 2).[0m ×2 + 34.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052656 ms (missed cycles : 2). + 34.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052656 ms (missed cycles : 2).[0m ×2 + 34.99sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 34.99sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031198 ms (missed cycles : 5). + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031198 ms (missed cycles : 5).[0m ×2 + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.785182 ms (missed cycles : 6). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.785182 ms (missed cycles : 6).[0m ×2 + 37.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324986 ms (missed cycles : 2). + 37.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324986 ms (missed cycles : 2).[0m ×2 + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343116 ms (missed cycles : 3). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343116 ms (missed cycles : 3).[0m ×2 + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.940605 ms (missed cycles : 5). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.940605 ms (missed cycles : 5).[0m ×2 + 40.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805033 ms (missed cycles : 2). + 40.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805033 ms (missed cycles : 2).[0m ×2 + 41.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694419 ms (missed cycles : 3). + 41.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694419 ms (missed cycles : 3).[0m ×2 + 42.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767817 ms (missed cycles : 3). + 42.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767817 ms (missed cycles : 3).[0m ×2 + 43.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.590685 ms (missed cycles : 6). + 43.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.590685 ms (missed cycles : 6).[0m ×2 + 44.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531817 ms (missed cycles : 3). + 44.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531817 ms (missed cycles : 3).[0m ×2 + 45.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931890 ms (missed cycles : 2). + 45.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931890 ms (missed cycles : 2).[0m ×2 + 46.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.956543 ms (missed cycles : 5). + 46.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.956543 ms (missed cycles : 5).[0m ×2 + 47.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427813 ms (missed cycles : 6). + 47.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427813 ms (missed cycles : 6).[0m ×2 + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.970153 ms (missed cycles : 8). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.970153 ms (missed cycles : 8).[0m ×2 + 49.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.382141 ms (missed cycles : 7). + 49.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.382141 ms (missed cycles : 7).[0m ×2 + 51.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543529 ms (missed cycles : 3). + 51.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543529 ms (missed cycles : 3).[0m ×2 + 52.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938829 ms (missed cycles : 3). + 52.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938829 ms (missed cycles : 3).[0m ×2 + 53.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352784 ms (missed cycles : 2). + 53.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352784 ms (missed cycles : 2).[0m ×2 + 54.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.606311 ms (missed cycles : 6). + 54.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.606311 ms (missed cycles : 6).[0m ×2 + 55.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243927 ms (missed cycles : 2). + 55.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243927 ms (missed cycles : 2).[0m ×2 + 56.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026735 ms (missed cycles : 5). + 56.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026735 ms (missed cycles : 5).[0m ×2 + 57.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451853 ms (missed cycles : 4). + 57.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451853 ms (missed cycles : 4).[0m ×2 + 58.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748696 ms (missed cycles : 3). + 58.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748696 ms (missed cycles : 3).[0m ×2 + 59.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266832 ms (missed cycles : 2). + 59.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266832 ms (missed cycles : 2).[0m ×2 + 60.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517040 ms (missed cycles : 2). + 60.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517040 ms (missed cycles : 2).[0m ×2 + 60.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782841799.27445364 seconds ×3 + 61.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782841799.83368897 seconds. ×3 + 61.43sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 61.46sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610556 ms (missed cycles : 6). + 61.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610556 ms (missed cycles : 6).[0m ×2 + 62.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420173 ms (missed cycles : 4). + 62.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420173 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.3s | 183 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4).[0m ×2 + 3.92sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.93sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.95sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841970.81621695 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841971.38724828 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.42sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.43sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150943 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150943 ms (missed cycles : 2).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.576233 ms (missed cycles : 6). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.576233 ms (missed cycles : 6).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796663 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796663 ms (missed cycles : 2).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075792 ms (missed cycles : 3). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075792 ms (missed cycles : 3).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883986 ms (missed cycles : 3). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883986 ms (missed cycles : 3).[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022297 ms (missed cycles : 2). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022297 ms (missed cycles : 2).[0m ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442357 ms (missed cycles : 4). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442357 ms (missed cycles : 4).[0m ×2 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228346 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228346 ms (missed cycles : 2).[0m ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978002 ms (missed cycles : 3). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978002 ms (missed cycles : 3).[0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.666953 ms (missed cycles : 5). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.666953 ms (missed cycles : 5).[0m ×2 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.648332 ms (missed cycles : 6). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.648332 ms (missed cycles : 6).[0m ×2 + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.220274 ms (missed cycles : 7). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.220274 ms (missed cycles : 7).[0m ×2 + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635894 ms (missed cycles : 3). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635894 ms (missed cycles : 3).[0m ×2 + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805708 ms (missed cycles : 3). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805708 ms (missed cycles : 3).[0m ×2 + 21.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030756 ms (missed cycles : 2). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030756 ms (missed cycles : 2).[0m ×2 + 22.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915831 ms (missed cycles : 2). + 22.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915831 ms (missed cycles : 2).[0m ×2 + 23.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160722 ms (missed cycles : 2). + 23.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160722 ms (missed cycles : 2).[0m ×2 + 25.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.339632 ms (missed cycles : 6). + 25.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.339632 ms (missed cycles : 6).[0m ×2 + 26.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270560 ms (missed cycles : 2). + 26.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270560 ms (missed cycles : 2).[0m ×2 + 27.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324416 ms (missed cycles : 4). + 27.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324416 ms (missed cycles : 4).[0m ×2 + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949746 ms (missed cycles : 2). + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949746 ms (missed cycles : 2).[0m ×2 + 28.84sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779930 ms (missed cycles : 2). + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779930 ms (missed cycles : 2).[0m ×2 + 30.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835535 ms (missed cycles : 3). + 30.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835535 ms (missed cycles : 3).[0m ×2 + 31.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612027 ms (missed cycles : 3). + 31.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612027 ms (missed cycles : 3).[0m ×2 + 32.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261116 ms (missed cycles : 2). + 32.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261116 ms (missed cycles : 2).[0m ×2 + 33.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350404 ms (missed cycles : 3). + 33.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350404 ms (missed cycles : 3).[0m ×2 + 33.68sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 33.68sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456652 ms (missed cycles : 3). + 34.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456652 ms (missed cycles : 3).[0m ×2 + 35.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849635 ms (missed cycles : 2). + 35.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849635 ms (missed cycles : 2).[0m ×2 + 36.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.999146 ms (missed cycles : 6). + 36.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.999146 ms (missed cycles : 6).[0m ×2 + 37.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882903 ms (missed cycles : 3). + 37.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882903 ms (missed cycles : 3).[0m ×2 + 38.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713447 ms (missed cycles : 3). + 38.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713447 ms (missed cycles : 3).[0m ×2 + 39.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605424 ms (missed cycles : 3). + 39.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605424 ms (missed cycles : 3).[0m ×2 + 40.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271632 ms (missed cycles : 4). + 40.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271632 ms (missed cycles : 4).[0m ×2 + 41.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052019 ms (missed cycles : 3). + 41.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052019 ms (missed cycles : 3).[0m ×2 + 42.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256182 ms (missed cycles : 4). + 42.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256182 ms (missed cycles : 4).[0m ×2 + 43.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752377 ms (missed cycles : 3). + 43.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752377 ms (missed cycles : 3).[0m ×2 + 44.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705814 ms (missed cycles : 3). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705814 ms (missed cycles : 3).[0m ×2 + 45.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743371 ms (missed cycles : 3). + 45.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743371 ms (missed cycles : 3).[0m ×2 + 46.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133258 ms (missed cycles : 5). + 46.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133258 ms (missed cycles : 5).[0m ×2 + 47.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873313 ms (missed cycles : 2). + 47.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873313 ms (missed cycles : 2).[0m ×2 + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873694 ms (missed cycles : 3). + 48.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873694 ms (missed cycles : 3).[0m ×2 + 49.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764153 ms (missed cycles : 2). + 49.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764153 ms (missed cycles : 2).[0m ×2 + 51.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093110 ms (missed cycles : 5). + 51.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093110 ms (missed cycles : 5).[0m ×2 + 52.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060791 ms (missed cycles : 4). + 52.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060791 ms (missed cycles : 4).[0m ×2 + 53.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321892 ms (missed cycles : 3). + 53.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321892 ms (missed cycles : 3).[0m ×2 + 54.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651296 ms (missed cycles : 3). + 54.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651296 ms (missed cycles : 3).[0m ×2 + 55.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555015 ms (missed cycles : 3). + 55.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555015 ms (missed cycles : 3).[0m ×2 + 56.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753964 ms (missed cycles : 4). + 56.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753964 ms (missed cycles : 4).[0m ×2 + 57.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806187 ms (missed cycles : 2). + 57.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806187 ms (missed cycles : 2).[0m ×2 + 58.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963759 ms (missed cycles : 2). + 58.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963759 ms (missed cycles : 2).[0m ×2 + 59.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782842026.15741563 seconds ×3 + 59.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562758 ms (missed cycles : 2). + 59.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562758 ms (missed cycles : 2).[0m ×2 + 59.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782842026.73295522 seconds. ×3 + 60.21sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 60.23sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.394222 ms (missed cycles : 4). + 60.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.394222 ms (missed cycles : 4).[0m ×2 + 61.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463619 ms (missed cycles : 4). + 61.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463619 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 53.6s | 177 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.010695 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.010695 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.056920 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.056920 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329279 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329279 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829799 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829799 ms (missed cycles : 5).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.37sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.41sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782841835.88228178 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.98sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782841836.44357562 seconds. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911163 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911163 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.792945 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.792945 ms (missed cycles : 6).[0m ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.90sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.90sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.90sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.91sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.040006 ms (missed cycles : 7). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.040006 ms (missed cycles : 7).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605338 ms (missed cycles : 6). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605338 ms (missed cycles : 6).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.175021 ms (missed cycles : 5). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.175021 ms (missed cycles : 5).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609302 ms (missed cycles : 3). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609302 ms (missed cycles : 3).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757839 ms (missed cycles : 3). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757839 ms (missed cycles : 3).[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066007 ms (missed cycles : 3). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066007 ms (missed cycles : 3).[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924041 ms (missed cycles : 2). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924041 ms (missed cycles : 2).[0m ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.070567 ms (missed cycles : 6). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.070567 ms (missed cycles : 6).[0m ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233077 ms (missed cycles : 2). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233077 ms (missed cycles : 2).[0m ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797049 ms (missed cycles : 2). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797049 ms (missed cycles : 2).[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385600 ms (missed cycles : 3). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385600 ms (missed cycles : 3).[0m ×2 + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676749 ms (missed cycles : 3). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676749 ms (missed cycles : 3).[0m ×2 + 18.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676342 ms (missed cycles : 2). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676342 ms (missed cycles : 2).[0m ×2 + 19.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675610 ms (missed cycles : 3). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675610 ms (missed cycles : 3).[0m ×2 + 20.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464765 ms (missed cycles : 4). + 20.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464765 ms (missed cycles : 4).[0m ×2 + 21.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616071 ms (missed cycles : 5). + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616071 ms (missed cycles : 5).[0m ×2 + 22.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000921 ms (missed cycles : 2). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000921 ms (missed cycles : 2).[0m ×2 + 23.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648472 ms (missed cycles : 3). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648472 ms (missed cycles : 3).[0m ×2 + 24.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755804 ms (missed cycles : 2). + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755804 ms (missed cycles : 2).[0m ×2 + 25.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701474 ms (missed cycles : 2). + 25.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701474 ms (missed cycles : 2).[0m ×2 + 26.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571264 ms (missed cycles : 2). + 26.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571264 ms (missed cycles : 2).[0m ×2 + 28.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.955748 ms (missed cycles : 5). + 28.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.955748 ms (missed cycles : 5).[0m ×2 + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096406 ms (missed cycles : 3). + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096406 ms (missed cycles : 3).[0m ×2 + 30.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607351 ms (missed cycles : 3). + 30.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607351 ms (missed cycles : 3).[0m ×2 + 31.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310027 ms (missed cycles : 5). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310027 ms (missed cycles : 5).[0m ×2 + 32.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464259 ms (missed cycles : 2). + 32.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464259 ms (missed cycles : 2).[0m ×2 + 33.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037737 ms (missed cycles : 2). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037737 ms (missed cycles : 2).[0m ×2 + 33.52sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 34.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254193 ms (missed cycles : 2). + 34.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254193 ms (missed cycles : 2).[0m ×2 + 34.29sWARNobjective_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 + 34.29sINFOobjective_server_nodePlanning for 52 path waypoints. ×3 + 35.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843582 ms (missed cycles : 2). + 35.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843582 ms (missed cycles : 2).[0m ×2 + 36.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901220 ms (missed cycles : 4). + 36.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901220 ms (missed cycles : 4).[0m ×2 + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674562 ms (missed cycles : 2). + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674562 ms (missed cycles : 2).[0m ×2 + 38.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848600 ms (missed cycles : 2). + 38.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848600 ms (missed cycles : 2).[0m ×2 + 39.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279883 ms (missed cycles : 4). + 39.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279883 ms (missed cycles : 4).[0m ×2 + 40.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433891 ms (missed cycles : 3). + 40.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433891 ms (missed cycles : 3).[0m ×2 + 41.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691860 ms (missed cycles : 2). + 41.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691860 ms (missed cycles : 2).[0m ×2 + 42.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831854 ms (missed cycles : 2). + 42.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831854 ms (missed cycles : 2).[0m ×2 + 43.24sINFOros2_control_nodeMuJoCo sim: 1.07% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 43.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439618 ms (missed cycles : 4). + 43.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439618 ms (missed cycles : 4).[0m ×2 + 44.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942925 ms (missed cycles : 2). + 44.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942925 ms (missed cycles : 2).[0m ×2 + 45.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.828394 ms (missed cycles : 5). + 45.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.828394 ms (missed cycles : 5).[0m ×2 + 46.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882536 ms (missed cycles : 2). + 46.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882536 ms (missed cycles : 2).[0m ×2 + 47.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527236 ms (missed cycles : 4). + 47.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527236 ms (missed cycles : 4).[0m ×2 + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289688 ms (missed cycles : 4). + 48.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289688 ms (missed cycles : 4).[0m ×2 + 49.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415757 ms (missed cycles : 2). + 49.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415757 ms (missed cycles : 2).[0m ×2 + 51.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945712 ms (missed cycles : 3). + 51.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945712 ms (missed cycles : 3).[0m ×2 + 52.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033341 ms (missed cycles : 4). + 52.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033341 ms (missed cycles : 4).[0m ×2 + 53.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375130 ms (missed cycles : 3). + 53.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375130 ms (missed cycles : 3).[0m ×2 + 54.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217123 ms (missed cycles : 2). + 54.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217123 ms (missed cycles : 2).[0m ×2 + 55.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537753 ms (missed cycles : 4). + 55.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537753 ms (missed cycles : 4).[0m ×2 + 56.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355673 ms (missed cycles : 4). + 56.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355673 ms (missed cycles : 4).[0m ×2 + 57.06sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782841889.52372646 seconds ×3 + 57.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277647 ms (missed cycles : 3). + 57.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277647 ms (missed cycles : 3).[0m ×2 + 57.61sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782841890.08131981 seconds. ×3 + 57.98sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 58.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609025 ms (missed cycles : 3). + 58.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609025 ms (missed cycles : 3).[0m ×2 + 59.23sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 59.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.909634 ms (missed cycles : 5). + 59.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.909634 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 144 warnings · 251 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.02sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.14sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.15sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.15sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.15sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.15sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.15sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.15sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.15sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.15sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.16sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.16sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.16sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.16sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.45sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.50sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.53sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.53sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.55sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.55sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.56sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.56sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.04sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.05sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.05sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.31sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.31sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.31sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.31sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.31sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.32sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.34sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.34sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.34sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.35sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.35sINFOplatform_velocity_controllerconfigure successful + 1.35sINFOros2_control_nodeconfigure successful[0m ×2 + 1.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.36sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.36sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.69sINFOros2-12process has finished cleanly [pid 9210] ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.15sINFOmove_groupClearing octomap...[0m ×2 + 2.15sINFOmove_groupOctomap cleared.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.01sINFOobjective_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 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.50sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 5.68sWARNobjective_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 + 5.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.95sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.95sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728998 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728998 ms (missed cycles : 2).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354762 ms (missed cycles : 4). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354762 ms (missed cycles : 4).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542481 ms (missed cycles : 3). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542481 ms (missed cycles : 3).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384069 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384069 ms (missed cycles : 2).[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981861 ms (missed cycles : 2). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981861 ms (missed cycles : 2).[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266294 ms (missed cycles : 4). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266294 ms (missed cycles : 4).[0m ×2 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604155 ms (missed cycles : 3). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604155 ms (missed cycles : 3).[0m ×2 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143182 ms (missed cycles : 4). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143182 ms (missed cycles : 4).[0m ×2 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960993 ms (missed cycles : 5). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960993 ms (missed cycles : 5).[0m ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838880 ms (missed cycles : 3). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838880 ms (missed cycles : 3).[0m ×2 + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643081 ms (missed cycles : 2). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643081 ms (missed cycles : 2).[0m ×2 + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873592 ms (missed cycles : 2). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873592 ms (missed cycles : 2).[0m ×2 + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.198056 ms (missed cycles : 7). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.198056 ms (missed cycles : 7).[0m ×2 + 21.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817972 ms (missed cycles : 4). + 21.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817972 ms (missed cycles : 4).[0m ×2 + 22.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009259 ms (missed cycles : 3). + 22.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009259 ms (missed cycles : 3).[0m ×2 + 23.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714277 ms (missed cycles : 3). + 23.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714277 ms (missed cycles : 3).[0m ×2 + 24.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.281107 ms (missed cycles : 7). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.281107 ms (missed cycles : 7).[0m ×2 + 25.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742058 ms (missed cycles : 2). + 25.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742058 ms (missed cycles : 2).[0m ×2 + 26.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.357014 ms (missed cycles : 7). + 26.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.357014 ms (missed cycles : 7).[0m ×2 + 27.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.006253 ms (missed cycles : 5). + 27.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.006253 ms (missed cycles : 5).[0m ×2 + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.375668 ms (missed cycles : 7). + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.375668 ms (missed cycles : 7).[0m ×2 + 29.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373828 ms (missed cycles : 4). + 29.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373828 ms (missed cycles : 4).[0m ×2 + 30.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217167 ms (missed cycles : 4). + 30.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217167 ms (missed cycles : 4).[0m ×2 + 31.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.997020 ms (missed cycles : 5). + 31.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.997020 ms (missed cycles : 5).[0m ×2 + 32.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996097 ms (missed cycles : 5). + 32.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996097 ms (missed cycles : 5).[0m ×2 + 33.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588160 ms (missed cycles : 3). + 33.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588160 ms (missed cycles : 3).[0m ×2 + 34.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570291 ms (missed cycles : 3). + 34.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570291 ms (missed cycles : 3).[0m ×2 + 35.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316506 ms (missed cycles : 4). + 35.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316506 ms (missed cycles : 4).[0m ×2 + 36.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773269 ms (missed cycles : 2). + 36.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773269 ms (missed cycles : 2).[0m ×2 + 37.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785130 ms (missed cycles : 5). + 37.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785130 ms (missed cycles : 5).[0m ×2 + 39.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885947 ms (missed cycles : 3). + 39.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885947 ms (missed cycles : 3).[0m ×2 + 40.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835487 ms (missed cycles : 3). + 40.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835487 ms (missed cycles : 3).[0m ×2 + 41.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547454 ms (missed cycles : 4). + 41.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547454 ms (missed cycles : 4).[0m ×2 + 42.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282956 ms (missed cycles : 4). + 42.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282956 ms (missed cycles : 4).[0m ×2 + 43.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635011 ms (missed cycles : 3). + 43.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635011 ms (missed cycles : 3).[0m ×2 + 44.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720037 ms (missed cycles : 3). + 44.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720037 ms (missed cycles : 3).[0m ×2 + 45.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402072 ms (missed cycles : 4). + 45.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402072 ms (missed cycles : 4).[0m ×2 + 46.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281795 ms (missed cycles : 4). + 46.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281795 ms (missed cycles : 4).[0m ×2 + 47.53sINFOjoint_trajectory_controllerGoal reached, success! + 47.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067232 ms (missed cycles : 2). + 47.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067232 ms (missed cycles : 2).[0m ×2 + 47.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782841738.76111150 seconds ×3 + 48.12sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782841739.31735492 seconds. ×3 + 48.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.805917 ms (missed cycles : 7). + 48.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.805917 ms (missed cycles : 7).[0m ×2 + 49.09sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 49.09sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065438 ms (missed cycles : 5). + 49.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065438 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.0s | 111 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420173 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420173 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001654 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001654 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306080 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306080 ms (missed cycles : 2).[0m ×2 + 2.58sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.58sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.63sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782841803.91399455 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664593 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664593 ms (missed cycles : 2).[0m ×2 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.19sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782841805.47211266 seconds. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106221 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106221 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×4 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868698 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868698 ms (missed cycles : 5).[0m ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.19sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.19sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.19sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.20sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793278 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793278 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.445410 ms (missed cycles : 6). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.445410 ms (missed cycles : 6).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110281 ms (missed cycles : 4). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110281 ms (missed cycles : 4).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.740047 ms (missed cycles : 6). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.740047 ms (missed cycles : 6).[0m ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336157 ms (missed cycles : 3). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336157 ms (missed cycles : 3).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767221 ms (missed cycles : 2). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767221 ms (missed cycles : 2).[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672641 ms (missed cycles : 6). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672641 ms (missed cycles : 6).[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724247 ms (missed cycles : 5). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724247 ms (missed cycles : 5).[0m ×2 + 14.42sINFOros2_control_nodeMuJoCo sim: 1.01% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.094099 ms (missed cycles : 7). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.094099 ms (missed cycles : 7).[0m ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458235 ms (missed cycles : 3). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458235 ms (missed cycles : 3).[0m ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568022 ms (missed cycles : 3). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568022 ms (missed cycles : 3).[0m ×2 + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249653 ms (missed cycles : 3). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249653 ms (missed cycles : 3).[0m ×2 + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680051 ms (missed cycles : 2). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680051 ms (missed cycles : 2).[0m ×2 + 19.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.127008 ms (missed cycles : 7). + 19.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.127008 ms (missed cycles : 7).[0m ×2 + 20.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379238 ms (missed cycles : 2). + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379238 ms (missed cycles : 2).[0m ×2 + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658285 ms (missed cycles : 3). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658285 ms (missed cycles : 3).[0m ×2 + 22.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.253797 ms (missed cycles : 5). + 22.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.253797 ms (missed cycles : 5).[0m ×2 + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572823 ms (missed cycles : 4). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572823 ms (missed cycles : 4).[0m ×2 + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990487 ms (missed cycles : 2). + 24.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990487 ms (missed cycles : 2).[0m ×2 + 26.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172924 ms (missed cycles : 3). + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172924 ms (missed cycles : 3).[0m ×2 + 27.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827044 ms (missed cycles : 2). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827044 ms (missed cycles : 2).[0m ×2 + 28.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831392 ms (missed cycles : 2). + 28.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831392 ms (missed cycles : 2).[0m ×2 + 29.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670322 ms (missed cycles : 6). + 29.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670322 ms (missed cycles : 6).[0m ×2 + 30.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550501 ms (missed cycles : 3). + 30.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550501 ms (missed cycles : 3).[0m ×2 + 31.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.010695 ms (missed cycles : 5). + 31.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.010695 ms (missed cycles : 5).[0m ×2 + 32.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.056920 ms (missed cycles : 5). + 32.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.056920 ms (missed cycles : 5).[0m ×2 + 33.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329279 ms (missed cycles : 3). + 33.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329279 ms (missed cycles : 3).[0m ×2 + 34.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829799 ms (missed cycles : 5). + 34.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829799 ms (missed cycles : 5).[0m ×2 + 34.60sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782841835.88228178 seconds ×3 + 35.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782841836.44357562 seconds. ×3 + 35.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911163 ms (missed cycles : 2). + 35.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911163 ms (missed cycles : 2).[0m ×2 + 36.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.792945 ms (missed cycles : 6). + 36.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.792945 ms (missed cycles : 6).[0m ×2 + 36.84sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 37.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.040006 ms (missed cycles : 7). + 37.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.040006 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.9s | 57 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555015 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555015 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753964 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753964 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806187 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806187 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963759 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963759 ms (missed cycles : 2).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.93sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782842026.15741563 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562758 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562758 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782842026.73295522 seconds. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.94sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.94sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.94sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.394222 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.394222 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463619 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463619 ms (missed cycles : 4).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857710 ms (missed cycles : 2). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857710 ms (missed cycles : 2).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269795 ms (missed cycles : 5). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269795 ms (missed cycles : 5).[0m ×2 + 9.16sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 9.19sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.22sINFOobjective_server_nodeFound path in 0 iterations (8.3e-07 s). ×2 + 9.25sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.28sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659126 ms (missed cycles : 2). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659126 ms (missed cycles : 2).[0m ×2 + 9.33sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.37sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×4 + 9.49sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.54sINFOobjective_server_nodeFound path in 0 iterations (1.26e-06 s). ×2 + 9.82sINFOobjective_server_nodeFound path in 69 iterations (0.0656857 s). ×2 + 10.01sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615232 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615232 ms (missed cycles : 2).[0m ×2 + 10.42sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.46sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 10.80sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.84sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371214 ms (missed cycles : 4). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371214 ms (missed cycles : 4).[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.207174 ms (missed cycles : 5). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.207174 ms (missed cycles : 5).[0m ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677658 ms (missed cycles : 4). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677658 ms (missed cycles : 4).[0m ×2 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812032 ms (missed cycles : 3). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812032 ms (missed cycles : 3).[0m ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151540 ms (missed cycles : 3). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151540 ms (missed cycles : 3).[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678229 ms (missed cycles : 2). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678229 ms (missed cycles : 2).[0m ×2 + 16.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782842039.02147317 seconds ×3 + 17.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782842039.62965465 seconds. ×3 + 17.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.46sINFOmove_groupClearing octomap...[0m ×2 + 17.46sINFOmove_groupOctomap cleared.[0m ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200749 ms (missed cycles : 2). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200749 ms (missed cycles : 2).[0m ×2 + 18.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782842040.17005944 seconds ×3 + 18.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782842040.71501279 seconds. ×3 + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709905 ms (missed cycles : 3). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709905 ms (missed cycles : 3).[0m ×2 + 19.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782842041.17520571 seconds ×3 + 19.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.7s | 76 errors · 33 warnings · 379 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812032 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812032 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151540 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151540 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678229 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678229 ms (missed cycles : 2).[0m ×2 + 2.27sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782842039.02147317 seconds ×3 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782842039.62965465 seconds. ×3 + 2.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.93sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200749 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200749 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782842040.17005944 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782842040.71501279 seconds. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709905 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709905 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782842041.17520571 seconds ×3 + 4.71sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931901 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931901 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162117 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162117 ms (missed cycles : 3).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086659 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086659 ms (missed cycles : 3).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415613 ms (missed cycles : 3). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415613 ms (missed cycles : 3).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488798 ms (missed cycles : 4). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488798 ms (missed cycles : 4).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202629 ms (missed cycles : 4). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202629 ms (missed cycles : 4).[0m ×2 + 10.92sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 10.95sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 10.98sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 11.06sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.06sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 11.08sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 11.09sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.10sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.12sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 11.15sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 11.17sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 11.19sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 11.21sINFOweb_video_server-31process has finished cleanly [pid 9288] ×2 + 11.22sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 11.23sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9287] ×2 + 11.24sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 11.27sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 11.27sINFOcontroller_managerShutdown request received.... + 11.27sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.27sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.27sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.27sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.27sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.27sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.27sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.28sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.28sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.28sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.28sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.28sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.28sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.28sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.28sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.28sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.28sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.28sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.28sINFOcontroller_managerShutting down the controller manager. + 11.29sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.31sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.31sERRORmove_group-20process has died [pid 9218, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_357yj6ob --params-file /tmp/launch_params_7rzo5_2i --params-file /tmp/launch_params_sifd8yhv --params-file /tmp/launch_params_qx7hwy8v --params-file /tmp/launch_params_nkwmm75x --params-file /tmp/launch_params_5qofk7ok --params-file /tmp/launch_params_lukx9nq0 --params-file /tmp/launch_params_oke9j7t7 --params-file /tmp/launch_params_oo3sem4s']. ×2 + 11.33sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.34sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.36sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.37sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.39sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.39sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.39sINFOmap_serverDeactivating + 11.39sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.39sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.39sERRORobjective_server_node_main-25process has died [pid 9282, 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_72mz8fkd --params-file /tmp/launch_params_hyfomc_t --params-file /tmp/launch_params_wvus890f --params-file /tmp/launch_params_r1k2e2i_ --params-file /tmp/launch_params_2p6j2xqk --params-file /tmp/launch_params_8g_4mygi --params-file /tmp/launch_params_oszs8whg --params-file /tmp/launch_params_gzud5fg3 --params-file /tmp/launch_params_teqqifqg']. ×2 + 11.39sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.39sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.39sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.39sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.39sINFOui_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 + 11.39sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.39sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.39sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.39sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.39sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.39sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.39sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.39sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.39sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.40sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.40sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.40sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.40sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.40sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.40sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 11.40sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.40sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.40sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.40sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.40sERRORmove_groupStack trace (most recent call last) in thread 9777: ×2 + 11.40sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.40sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa61a7dfa63, in __clone ×2 + 11.40sINFOobjective_server_node[2026-06-30 17:54:07.946] [moveit_pro_license] [info] ×2 + 11.40sINFOobjective_server_node************************************************* ×4 + 11.40sINFOobjective_server_node* MoveIt Pro License ×2 + 11.40sINFOobjective_server_node* Application has successfully terminated ×2 + 11.40sINFOmap_serverCleaning up + 11.40sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.40sINFOcontroller_serverCleaning up + 11.40sINFOlocal_costmap.local_costmapCleaning up + 11.40sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa61a752aa3, in ×2 + 11.40sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa61a9e4db3, in ×2 + 11.40sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fa61b0391c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.40sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa61ad574d0, in rclcpp::Rate::sleep() ×2 + 11.40sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa61acaaa88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.40sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa61ac6fa71, in ×2 + 11.40sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa61a9b3390, in __cxa_throw ×2 + 11.40sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa61a99da54, in std::terminate() ×2 + 11.40sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa61a9b30d9, in ×2 + 11.40sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa61a99dff4, in ×2 + 11.40sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa61a6de8fe, in abort ×2 + 11.40sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa61a6fb27d, in raise ×2 + 11.40sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa61a754b2c, in pthread_kill ×2 + 11.40sERRORmove_groupAborted (Signal sent by tkill() 9218 0) ×2 + 11.40sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.41sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.41sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.41sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.41sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.41sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.41sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.41sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.41sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.41sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.41sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.41sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.41sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.41sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.41sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.41sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.41sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c727fc56a4, in _start ×2 + 11.41sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1c512b28a, in __libc_start_main ×2 + 11.41sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1c512b1d0, in ×2 + 11.41sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1c5148bbd, in exit ×2 + 11.41sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1c5148a75, in ×2 + 11.41sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fe1c561a4a2, in spdlog::details::registry::~registry() ×2 + 11.41sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fe1c562569d, 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 + 11.41sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fe1c561f965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.41sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c727fcc315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.41sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c727fcb5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.41sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c727fc7b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.41sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c727fc5d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.41sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe1c5cc1454, in rclcpp::Node::~Node() ×2 + 11.41sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe1c5c7c515, in ×2 + 11.41sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe1c5cbfd20, in ×2 + 11.41sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe1c5cbfc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.41sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe1c5c7c5d9, in ×2 + 11.41sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe1c5c81161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.41sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fe1885e8110]) ×2 + 11.41sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.41sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.41sINFOodom_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 + 11.41sINFOodom_qos_relay.pymain() ×2 + 11.41sINFOodom_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 + 11.41sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.41sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.41sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.41sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.41sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.41sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.41sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.41sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.41sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.41sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 11.42sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.42sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.44sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.44sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.44sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.46sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.46sINFOsmoother_serverCleaning up + 11.47sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.47sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.47sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.47sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.47sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.47sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.47sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.47sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.47sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.47sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.47sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.47sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.49sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.49sINFOros2_control_nodepublish_async_failures_ 2[0m ×4 + 11.92sERRORcomponent_container_isolated-1process has died [pid 9122, 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_jgwx77fs --params-file /tmp/launch_params_rq59d04o -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.20sERRORui_teleop_bridge-28process has died [pid 9285, 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_tw1h63rm']. ×2 + 12.20sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9281] ×2 + 12.22sINFOexecute_objective_bridge-27process has finished cleanly [pid 9284] ×2 + 12.23sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9221] ×2 + 12.28sINFOparameter_manager_node-21process has finished cleanly [pid 9219] ×2 + 12.31sINFOwaypoint_manager_node-22process has finished cleanly [pid 9220] ×2 + 12.33sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9128] ×2 + 12.35sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9127] ×2 + 12.38sINFOstatic_transform_publisher-4process has finished cleanly [pid 9125] ×2 + 12.40sINFOcomponent_container_mt-26process has finished cleanly [pid 9283] ×2 + 12.40sINFOstatic_transform_publisher-3process has finished cleanly [pid 9124] ×2 + 12.42sINFOstatic_transform_publisher-2process has finished cleanly [pid 9123] ×2 + 12.42sERRORodom_qos_relay.py-5process has died [pid 9126, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.99sINFOweb_bridge-29process has finished cleanly [pid 9286] ×2 + 13.99sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 14.10sINFOros2_control_node-8process has finished cleanly [pid 9129] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.6s | 3 errors · 51 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375130 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375130 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217123 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217123 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537753 ms (missed cycles : 4). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537753 ms (missed cycles : 4).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355673 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355673 ms (missed cycles : 4).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.87sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782841889.52372646 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277647 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277647 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782841890.08131981 seconds. ×3 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609025 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609025 ms (missed cycles : 3).[0m ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.08sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.08sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.08sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.909634 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.909634 ms (missed cycles : 5).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817025 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817025 ms (missed cycles : 3).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340794 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340794 ms (missed cycles : 3).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080397 ms (missed cycles : 5). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080397 ms (missed cycles : 5).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734674 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734674 ms (missed cycles : 2).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156971 ms (missed cycles : 4). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156971 ms (missed cycles : 4).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579999 ms (missed cycles : 3). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579999 ms (missed cycles : 3).[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.773148 ms (missed cycles : 6). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.773148 ms (missed cycles : 6).[0m ×2 + 14.46sINFOjoint_trajectory_controllerGot request to cancel goal + 14.46sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.46sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.46sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782841900.14101791 seconds ×3 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422511 ms (missed cycles : 4). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422511 ms (missed cycles : 4).[0m ×2 + 15.04sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782841900.69600844 seconds. ×3 + 15.40sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345640 ms (missed cycles : 3). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345640 ms (missed cycles : 3).[0m ×2 + 16.65sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010313 ms (missed cycles : 4). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010313 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 36 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451853 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748696 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748696 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266832 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266832 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517040 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517040 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.17sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782841799.27445364 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 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782841799.83368897 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 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.11sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.11sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610556 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610556 ms (missed cycles : 6).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420173 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420173 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001654 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001654 ms (missed cycles : 5).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306080 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306080 ms (missed cycles : 2).[0m ×2 + 7.82sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782841803.91399455 seconds ×3 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664593 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664593 ms (missed cycles : 2).[0m ×2 + 9.38sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782841805.47211266 seconds. ×3 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106221 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106221 ms (missed cycles : 2).[0m ×2 + 9.73sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868698 ms (missed cycles : 5). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868698 ms (missed cycles : 5).[0m ×2 + 11.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793278 ms (missed cycles : 2). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793278 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.7s | 30 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720037 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720037 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402072 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402072 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281795 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281795 ms (missed cycles : 4).[0m ×2 + 3.22sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.22sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067232 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067232 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782841738.76111150 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782841739.31735492 seconds. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.805917 ms (missed cycles : 7). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.805917 ms (missed cycles : 7).[0m ×2 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.82sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.82sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.82sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065438 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065438 ms (missed cycles : 5).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838117 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838117 ms (missed cycles : 2).[0m ×2 + 6.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782841742.43754649 seconds ×3 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027576 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027576 ms (missed cycles : 3).[0m ×2 + 7.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782841742.99427438 seconds. ×3 + 7.82sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.936555 ms (missed cycles : 5). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.936555 ms (missed cycles : 5).[0m ×2 + 9.44sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741032 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741032 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 24 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677658 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677658 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812032 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812032 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151540 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151540 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678229 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678229 ms (missed cycles : 2).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.34sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782842039.02147317 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 + 3.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782842039.62965465 seconds. ×3 + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.95sINFOmove_groupClearing octomap...[0m ×2 + 3.95sINFOmove_groupOctomap cleared.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200749 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200749 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782842040.17005944 seconds ×3 + 5.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782842040.71501279 seconds. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709905 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709905 ms (missed cycles : 3).[0m ×2 + 5.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782842041.17520571 seconds ×3 + 5.73sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931901 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931901 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162117 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162117 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720037 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720037 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402072 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402072 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281795 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281795 ms (missed cycles : 4).[0m ×2 + 3.22sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067232 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067232 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782841738.76111150 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782841739.31735492 seconds. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.805917 ms (missed cycles : 7). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.805917 ms (missed cycles : 7).[0m ×2 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065438 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065438 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 27 warnings · 301 info |
+ 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.00sINFOros2-18process has finished cleanly [pid 9216] ×2 + 0.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.29sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.29sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.30sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.30sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.30sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.30sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.30sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.30sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.30sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.31sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.32sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.32sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.63sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.63sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.63sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.65sINFOros2-11process has finished cleanly [pid 9209] ×2 + 0.65sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.66sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.70sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.70sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.70sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.71sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.71sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.72sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.72sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2).[0m ×2 + 1.05sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.05sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.06sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.06sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.09sINFOros2-13process has finished cleanly [pid 9211] ×2 + 1.13sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.13sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 1.87sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.87sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.87sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.88sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.88sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.90sINFOros2-17process has finished cleanly [pid 9215] ×2 + 2.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.02sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.02sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.02sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.02sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.03sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.03sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.03sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.03sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.03sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.03sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.32sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.32sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.32sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.33sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 2.33sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 2.37sINFOros2-15process has finished cleanly [pid 9213] ×2 + 2.40sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 2.40sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.42sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.42sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.43sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 2.43sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 2.91sINFOros2-10process has finished cleanly [pid 9208] ×2 + 2.92sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.19sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.19sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.19sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.19sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 3.19sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.19sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 3.21sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 3.22sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 3.22sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.22sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.22sINFOplatform_velocity_controllerconfigure successful + 3.22sINFOros2_control_nodeconfigure successful[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 3.23sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.56sINFOros2-12process has finished cleanly [pid 9210] ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.02sINFOmove_groupClearing octomap...[0m ×2 + 4.02sINFOmove_groupOctomap cleared.[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 5.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067232 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067232 ms (missed cycles : 2).[0m ×2 + 0.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782841738.76111150 seconds ×3 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782841739.31735492 seconds. ×3 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.805917 ms (missed cycles : 7). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.805917 ms (missed cycles : 7).[0m ×2 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.60sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.60sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.60sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.61sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065438 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065438 ms (missed cycles : 5).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838117 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838117 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782841742.43754649 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027576 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027576 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782841742.99427438 seconds. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.936555 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.936555 ms (missed cycles : 5).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741032 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741032 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451853 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748696 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748696 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266832 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266832 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517040 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517040 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782841799.27445364 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 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782841799.83368897 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 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610556 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610556 ms (missed cycles : 6).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420173 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420173 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451853 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748696 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748696 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266832 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266832 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517040 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517040 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782841799.27445364 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 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782841799.83368897 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 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610556 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610556 ms (missed cycles : 6).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420173 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420173 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4).[0m ×2 + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841970.81621695 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841971.38724828 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 27 warnings · 301 info |
+ 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.00sINFOros2-18process has finished cleanly [pid 9216] ×2 + 0.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.29sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.29sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.30sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.30sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.30sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.30sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.30sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.30sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.30sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.31sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.32sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.32sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.63sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.63sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.63sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.65sINFOros2-11process has finished cleanly [pid 9209] ×2 + 0.65sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.66sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.70sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.70sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.70sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.71sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.71sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.72sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.72sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2).[0m ×2 + 1.05sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.05sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.06sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.06sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.09sINFOros2-13process has finished cleanly [pid 9211] ×2 + 1.13sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.13sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 1.87sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.87sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.87sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.88sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.88sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.90sINFOros2-17process has finished cleanly [pid 9215] ×2 + 2.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.02sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.02sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.02sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.02sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.03sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.03sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.03sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.03sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.03sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.03sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.32sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.32sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.32sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.33sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 2.33sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 2.37sINFOros2-15process has finished cleanly [pid 9213] ×2 + 2.40sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 2.40sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.42sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.42sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.43sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 2.43sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 2.91sINFOros2-10process has finished cleanly [pid 9208] ×2 + 2.92sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.19sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.19sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.19sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.19sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 3.19sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.19sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 3.21sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 3.22sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 3.22sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.22sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.22sINFOplatform_velocity_controllerconfigure successful + 3.22sINFOros2_control_nodeconfigure successful[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 3.23sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.56sINFOros2-12process has finished cleanly [pid 9210] ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.02sINFOmove_groupClearing octomap...[0m ×2 + 4.02sINFOmove_groupOctomap cleared.[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 5.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4).[0m ×2 + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841970.81621695 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841971.38724828 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4).[0m ×2 + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841970.81621695 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841971.38724828 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4).[0m ×2 + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841970.81621695 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841971.38724828 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677658 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677658 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812032 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812032 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151540 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151540 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678229 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678229 ms (missed cycles : 2).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.34sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782842039.02147317 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 + 3.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782842039.62965465 seconds. ×3 + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.95sINFOmove_groupClearing octomap...[0m ×2 + 3.95sINFOmove_groupOctomap cleared.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200749 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200749 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782842040.17005944 seconds ×3 + 5.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782842040.71501279 seconds. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709905 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709905 ms (missed cycles : 3).[0m ×2 + 5.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782842041.17520571 seconds ×3 + 5.73sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720037 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720037 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402072 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402072 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281795 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281795 ms (missed cycles : 4).[0m ×2 + 3.22sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067232 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067232 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782841738.76111150 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782841739.31735492 seconds. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.805917 ms (missed cycles : 7). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.805917 ms (missed cycles : 7).[0m ×2 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065438 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065438 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451853 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748696 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748696 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266832 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266832 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517040 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517040 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782841799.27445364 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 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782841799.83368897 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 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610556 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610556 ms (missed cycles : 6).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420173 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420173 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451853 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748696 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748696 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266832 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266832 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517040 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517040 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782841799.27445364 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 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782841799.83368897 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 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610556 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610556 ms (missed cycles : 6).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420173 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420173 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451853 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748696 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748696 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266832 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266832 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517040 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517040 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782841799.27445364 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 + 3.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782841799.83368897 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 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610556 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610556 ms (missed cycles : 6).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420173 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420173 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.010695 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.010695 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.056920 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.056920 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329279 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329279 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829799 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829799 ms (missed cycles : 5).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.41sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782841835.88228178 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782841836.44357562 seconds. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911163 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911163 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.792945 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.792945 ms (missed cycles : 6).[0m ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.040006 ms (missed cycles : 7). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.040006 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.010695 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.010695 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.056920 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.056920 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329279 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329279 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829799 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829799 ms (missed cycles : 5).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.41sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782841835.88228178 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782841836.44357562 seconds. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911163 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911163 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.792945 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.792945 ms (missed cycles : 6).[0m ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.040006 ms (missed cycles : 7). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.040006 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.010695 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.010695 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.056920 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.056920 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329279 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329279 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829799 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829799 ms (missed cycles : 5).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.41sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782841835.88228178 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782841836.44357562 seconds. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911163 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911163 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.792945 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.792945 ms (missed cycles : 6).[0m ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.040006 ms (missed cycles : 7). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.040006 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 27 warnings · 301 info |
+ 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.00sINFOros2-18process has finished cleanly [pid 9216] ×2 + 0.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.29sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.29sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.30sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.30sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.30sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.30sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.30sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.30sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.30sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.31sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.32sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.32sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.63sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.63sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.63sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.65sINFOros2-11process has finished cleanly [pid 9209] ×2 + 0.65sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.66sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.70sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.70sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.70sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.71sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.71sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.72sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.72sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2).[0m ×2 + 1.05sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.05sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.06sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.06sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.09sINFOros2-13process has finished cleanly [pid 9211] ×2 + 1.13sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.13sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 1.87sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.87sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.87sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.88sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.88sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.90sINFOros2-17process has finished cleanly [pid 9215] ×2 + 2.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.02sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.02sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.02sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.02sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.03sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.03sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.03sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.03sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.03sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.03sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.32sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.32sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.32sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.33sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 2.33sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 2.37sINFOros2-15process has finished cleanly [pid 9213] ×2 + 2.40sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 2.40sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.42sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.42sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.43sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 2.43sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 2.91sINFOros2-10process has finished cleanly [pid 9208] ×2 + 2.92sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.19sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.19sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.19sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.19sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 3.19sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.19sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 3.21sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 3.22sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 3.22sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.22sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.22sINFOplatform_velocity_controllerconfigure successful + 3.22sINFOros2_control_nodeconfigure successful[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 3.23sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.56sINFOros2-12process has finished cleanly [pid 9210] ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.02sINFOmove_groupClearing octomap...[0m ×2 + 4.02sINFOmove_groupOctomap cleared.[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 5.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4).[0m ×2 + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841970.81621695 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841971.38724828 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[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 4.071012 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4).[0m ×2 + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841970.81621695 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841971.38724828 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4).[0m ×2 + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841970.81621695 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841971.38724828 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071012 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945040 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783154 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431465 ms (missed cycles : 4).[0m ×2 + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841970.81621695 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911382 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841971.38724828 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233079 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847784 ms (missed cycles : 5).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[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 | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 26.6s | 15 errors · 299 warnings · 1072 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/2026-06-30-17-47-46-717440-2bc8c48fb05c-9073 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 12.89sINFOstatic_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' + 12.89sINFOstatic_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' + 12.89sINFOstatic_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' + 12.99sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.01sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.02sINFOcontroller_managerupdate rate is 600 Hz + 13.02sINFOcontroller_managerOverruns handling is : enabled + 13.02sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.02sWARNcontroller_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. + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777023 ms (missed cycles : 2). + 13.10sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.13sINFOros2_control_node-8process started with pid [9129] ×2 + 13.13sINFOmove_group-20process started with pid [9218] ×2 + 13.13sINFOparameter_manager_node-21process started with pid [9219] ×2 + 13.13sINFOwaypoint_manager_node-22process started with pid [9220] ×2 + 13.13sINFOmove_joint_resampler_node-23process started with pid [9221] ×2 + 13.13sINFOmove_end_effector_resampler_node-24process started with pid [9281] ×2 + 13.13sINFOobjective_server_node_main-25process started with pid [9282] ×2 + 13.13sINFOcomponent_container_mt-26process started with pid [9283] ×2 + 13.13sINFOexecute_objective_bridge-27process started with pid [9284] ×2 + 13.13sINFOui_teleop_bridge-28process started with pid [9285] ×2 + 13.13sINFOweb_bridge-29process started with pid [9286] ×2 + 13.13sINFOtf2_web_republisher_node-30process started with pid [9287] ×2 + 13.13sINFOweb_video_server-31process started with pid [9288] ×2 + 13.16sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 13.16sINFOcomponent_container_isolated-1process started with pid [9122] ×2 + 13.17sINFOstatic_transform_publisher-2process started with pid [9123] ×2 + 13.17sINFOstatic_transform_publisher-3process started with pid [9124] ×2 + 13.17sINFOstatic_transform_publisher-4process started with pid [9125] ×2 + 13.17sINFOodom_qos_relay.py-5process started with pid [9126] ×2 + 13.17sINFOscan_to_scan_filter_chain-6process started with pid [9127] ×2 + 13.17sINFOscan_to_scan_filter_chain-7process started with pid [9128] ×2 + 13.17sINFOros2-9process started with pid [9207] ×2 + 13.17sINFOros2-10process started with pid [9208] ×2 + 13.17sINFOros2-11process started with pid [9209] ×2 + 13.17sINFOros2-12process started with pid [9210] ×2 + 13.17sINFOros2-13process started with pid [9211] ×2 + 13.17sINFOros2-14process started with pid [9212] ×2 + 13.17sINFOros2-15process started with pid [9213] ×2 + 13.17sINFOros2-16process started with pid [9214] ×2 + 13.17sINFOros2-17process started with pid [9215] ×2 + 13.17sINFOros2-18process started with pid [9216] ×2 + 13.17sINFOros2-19process started with pid [9217] ×2 + 13.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.20sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.20sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.20sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.23sINFOmap_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. + 13.23sINFOmap_serverCreating + 13.23sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.24sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 13.24sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 13.24sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 13.24sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 13.24sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 13.24sINFOstatic_transform_publisherfrom 'mj_world' to 'world'[0m ×2 + 13.24sINFOstatic_transform_publisherfrom 'map' to 'odom'[0m ×2 + 13.24sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.24sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.24sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.24sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.24sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.24sWARNros2_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 + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777023 ms (missed cycles : 2).[0m ×2 + 13.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 13.32sINFOcontroller_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. + 13.33sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 13.34sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 13.35sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.35sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 13.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.38sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.38sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.44sINFOcontroller_serverCreating controller server + 13.47sINFOlocal_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. + 13.48sINFOrobot_state_publisherRobot initialized + 13.49sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.49sINFOlocal_costmap.local_costmapCreating Costmap + 13.50sINFOcontroller_managerReceived robot description from topic. + 13.50sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.50sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.50sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.50sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.53sINFOlifecycle_manager_localizationCreating + 13.56sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 13.56sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.56sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 13.56sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.56sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 13.56sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.58sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.58sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.58sINFOmap_serverConfiguring + 13.59sINFOsmoother_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. + 13.62sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.62sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 13.63sINFOsmoother_serverCreating smoother server + 13.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.64sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.66sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 13.66sINFOmap_serverActivating + 13.67sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 13.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.69sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.70sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.70sINFOplanner_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. + 13.74sINFOplanner_serverCreating + 13.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 13.75sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 13.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 13.79sINFOglobal_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. + 13.79sINFOlifecycle_manager_localizationServer map_server connected with bond. + 13.79sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 13.79sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 13.80sINFOglobal_costmap.global_costmapCreating Costmap + 13.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.83sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.83sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.87sINFObehavior_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. + 13.90sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 13.90sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 13.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 13.90sWARNlaser_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. + 13.90sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 13.90sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 13.90sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 13.90sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 13.90sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 13.90sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 13.91sWARNlaser_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. + 13.91sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 13.91sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 13.91sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 13.91sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 13.91sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 13.91sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 13.91sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 13.91sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 13.91sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 13.91sWARNscan_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 + 13.91sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 13.91sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 13.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.94sINFObt_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. + 13.96sINFObt_navigatorCreating + 13.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 13.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 13.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.98sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.426039 seconds + 13.98sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 13.98sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 13.98sINFOmove_groupLoaded robot model in 0.426039 seconds[0m ×2 + 13.98sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 13.98sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.01sINFOwaypoint_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. + 14.02sINFOwaypoint_followerCreating + 14.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.03sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.03sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.07sINFOvelocity_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. + 14.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269209 ms (missed cycles : 4). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269209 ms (missed cycles : 4).[0m ×2 + 14.12sINFOlifecycle_manager_navigationCreating + 14.12sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.15sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.15sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.15sINFOcontroller_serverConfiguring controller interface + 14.15sINFOcontroller_servergetting progress checker plugins.. + 14.15sINFOcontroller_servergetting goal checker plugins.. + 14.15sINFOcontroller_serverController frequency set to 20.0000Hz + 14.15sINFOlocal_costmap.local_costmapConfiguring + 14.16sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.20sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.27sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.27sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.28sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.34sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.35sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.36sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.37sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.40sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.42sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.46sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.46sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.48sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.48sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.48sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.48sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.49sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.49sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.50sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.50sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.50sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.51sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.51sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.51sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.51sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.52sINFOcontroller_serverOptimizer reset + 14.53sINFOcontroller_serverController Server has FollowPath controllers available. + 14.54sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.54sINFOsmoother_serverConfiguring smoother server + 14.55sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.56sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.57sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.57sINFOplanner_serverConfiguring + 14.57sINFOglobal_costmap.global_costmapConfiguring + 14.59sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.59sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.60sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.60sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.60sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.63sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.63sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.64sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.67sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 14.67sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.67sWARNmove_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. + 14.67sWARNmove_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. + 14.67sWARNmove_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 + 14.67sWARNmove_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 + 14.67sWARNmove_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. + 14.67sWARNmove_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. + 14.67sWARNmove_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 + 14.67sWARNmove_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 + 14.67sWARNmove_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. + 14.67sWARNmove_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 + 14.67sWARNmove_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. + 14.67sWARNmove_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 + 14.68sWARNmove_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. + 14.68sWARNmove_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 + 14.68sWARNmove_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. + 14.68sWARNmove_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 + 14.69sWARNmove_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. + 14.69sWARNmove_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 + 14.69sWARNmove_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. + 14.69sINFOwaypoint_manager_nodeLoaded robot model in 0.497222 seconds[0m ×2 + 14.69sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 14.69sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.69sWARNmove_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 + 14.70sFATALplanner_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 + 14.70sINFOplanner_serverCleaning up + 14.70sINFOglobal_costmap.global_costmapCleaning up + 14.70sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.71sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 14.71sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×8 + 14.77sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 14.77sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 15.11sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 15.11sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 15.11sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 15.11sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.14sWARNwaypoint_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. + 15.14sWARNwaypoint_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. + 15.14sWARNwaypoint_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 + 15.14sWARNwaypoint_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 + 15.14sWARNwaypoint_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. + 15.14sWARNwaypoint_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 + 15.14sWARNwaypoint_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. + 15.14sWARNwaypoint_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 + 15.14sWARNwaypoint_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. + 15.14sWARNwaypoint_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 + 15.14sWARNwaypoint_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. + 15.14sWARNwaypoint_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 + 15.15sWARNwaypoint_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. + 15.15sWARNwaypoint_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 + 15.15sWARNwaypoint_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. + 15.15sWARNwaypoint_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 + 15.15sWARNwaypoint_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. + 15.15sWARNwaypoint_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. + 15.15sWARNwaypoint_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 + 15.15sWARNwaypoint_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. + 15.15sWARNwaypoint_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. + 15.15sWARNwaypoint_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 + 15.15sWARNwaypoint_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 + 15.15sWARNwaypoint_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 + 15.15sWARNwaypoint_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. + 15.15sWARNwaypoint_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. + 15.15sWARNwaypoint_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. + 15.15sWARNwaypoint_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. + 15.16sWARNwaypoint_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 + 15.16sWARNwaypoint_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. + 15.16sWARNwaypoint_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 + 15.16sWARNwaypoint_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. + 15.16sWARNwaypoint_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 + 15.16sWARNwaypoint_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. + 15.16sWARNwaypoint_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. + 15.16sWARNwaypoint_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 + 15.16sWARNwaypoint_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 + 15.16sWARNwaypoint_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 + 15.16sWARNwaypoint_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 + 15.16sWARNwaypoint_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. + 15.16sWARNwaypoint_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. + 15.16sWARNwaypoint_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 + 15.16sWARNwaypoint_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. + 15.16sWARNwaypoint_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. + 15.16sWARNwaypoint_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 + 15.16sWARNwaypoint_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 + 15.16sWARNwaypoint_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 + 15.16sWARNwaypoint_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. + 15.16sWARNwaypoint_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 + 15.16sWARNwaypoint_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. + 15.17sWARNwaypoint_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 + 15.17sWARNwaypoint_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. + 15.17sWARNwaypoint_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. + 15.17sWARNwaypoint_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 + 15.17sWARNwaypoint_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 + 15.17sWARNwaypoint_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 + 15.23sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 15.23sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 15.23sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 15.23sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 15.23sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 15.23sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 15.23sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 15.23sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 15.23sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 15.23sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.23sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 15.24sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 15.24sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 15.24sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 15.24sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 15.24sINFOmove_groupStarting planning scene monitor[0m ×2 + 15.24sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 15.24sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 15.24sINFOmove_groupListening to '/planning_scene'[0m ×2 + 15.24sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 15.24sINFOmove_groupListening to 'collision_object'[0m ×2 + 15.24sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 15.62sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 15.63sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.63sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 15.75sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 15.75sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 15.75sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 15.75sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 15.75sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 15.75sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 15.75sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 15.75sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 15.75sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 15.75sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 15.75sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 15.75sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773465 ms (missed cycles : 2). + 15.75sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 15.75sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 15.75sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 15.75sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 15.76sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 15.76sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 15.76sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 15.76sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 15.76sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 15.76sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 15.76sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773465 ms (missed cycles : 2).[0m ×2 + 15.79sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 15.79sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 15.79sWARNros2_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 + 15.97sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 15.97sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 15.97sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 15.97sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 15.98sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 15.98sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 16.00sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 16.00sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 16.01sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 16.01sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 16.01sINFOplatform_velocity_controller_nav2configure successful + 16.01sINFOros2_control_nodeconfigure successful[0m ×6 + 16.14sINFOobjective_server_node[2026-06-30 17:48:06.043] [moveit_pro_license] [info] ×2 + 16.14sINFOobjective_server_node************************************************* ×4 + 16.14sINFOobjective_server_node* MoveIt Pro License ×2 + 16.14sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.21sINFOobjective_server_nodeLoaded robot model in 0.023249 seconds[0m ×2 + 16.21sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 16.21sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.32sINFOros2-14process has finished cleanly [pid 9212] ×2 + 16.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 16.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.34sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 16.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.34sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.35sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 16.36sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 16.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 16.36sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 16.37sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 16.37sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 16.37sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 16.37sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 16.37sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 16.37sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 16.40sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 16.41sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 16.41sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 16.41sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 16.42sINFOforce_torque_sensor_broadcasterconfigure successful + 16.42sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 16.42sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 16.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 16.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 16.43sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 16.43sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 16.60sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.60sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.60sWARNobjective_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. + 16.60sWARNobjective_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. + 16.60sWARNobjective_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. + 16.60sWARNobjective_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 + 16.60sWARNobjective_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. + 16.60sWARNobjective_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 + 16.60sWARNobjective_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. + 16.60sWARNobjective_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. + 16.60sWARNobjective_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 + 16.60sWARNobjective_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 + 16.60sWARNobjective_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. + 16.60sWARNobjective_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. + 16.60sWARNobjective_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 + 16.60sWARNobjective_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. + 16.60sWARNobjective_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. + 16.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.60sWARNobjective_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 + 16.60sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.60sWARNobjective_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 + 16.61sWARNobjective_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 + 16.61sWARNobjective_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 + 16.61sWARNobjective_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 + 16.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.61sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.63sWARNcomponent_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 + 16.68sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 16.68sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 16.70sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 16.70sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 16.70sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 16.70sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 16.70sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 16.70sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 16.70sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 16.70sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 16.70sINFOcontroller_managerLoading controller 'velocity_force_controller' + 16.70sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 16.70sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 16.74sINFOros2-9process has finished cleanly [pid 9207] ×2 + 16.85sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 16.85sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 16.92sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 16.92sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 16.92sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 16.92sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 16.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 16.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 16.99sINFOcomponent_container_mtLoaded robot model in 0.370948 seconds[0m ×2 + 16.99sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 17.00sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782597 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782597 ms (missed cycles : 2).[0m ×2 + 17.18sWARNobjective_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 + 17.19sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 17.19sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 17.36sINFOros2_control_node[2026-06-30 17:48:07.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 17.37sINFOros2_control_node[2026-06-30 17:48:07.272] [info] Controller state will be published at 10 Hz. ×2 + 17.38sINFOros2_control_node[2026-06-30 17:48:07.279] [info] VelocityForceController 'on_configure' succeeded. ×2 + 17.43sWARNplanning_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. + 17.43sWARNplanning_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. + 17.43sWARNcomponent_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 + 17.43sWARNplanning_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. + 17.43sWARNplanning_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. + 17.43sWARNcomponent_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 + 17.43sWARNcomponent_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 + 17.43sWARNplanning_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. + 17.43sWARNplanning_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. + 17.43sWARNcomponent_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 + 17.43sWARNcomponent_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 + 17.43sWARNplanning_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. + 17.43sWARNcomponent_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 + 17.44sWARNplanning_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. + 17.44sWARNcomponent_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 + 17.44sWARNplanning_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. + 17.44sWARNcomponent_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 + 17.44sWARNplanning_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. + 17.44sWARNcomponent_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 + 17.44sWARNcomponent_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 + 17.44sWARNplanning_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. + 17.44sWARNplanning_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. + 17.44sWARNcomponent_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 + 17.44sWARNcomponent_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 + 17.44sWARNplanning_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. + 17.44sWARNplanning_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. + 17.44sWARNcomponent_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 + 17.44sWARNcomponent_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 + 17.44sWARNplanning_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. + 17.44sWARNplanning_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. + 17.44sWARNcomponent_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 + 17.44sWARNplanning_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. + 17.44sWARNcomponent_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 + 17.44sWARNplanning_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. + 17.44sWARNcomponent_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 + 17.44sWARNplanning_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. + 17.44sWARNcomponent_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 + 17.44sWARNplanning_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. + 17.44sWARNcomponent_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 + 17.44sWARNcomponent_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 + 17.44sWARNplanning_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. + 17.44sWARNplanning_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. + 17.44sWARNcomponent_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 + 17.44sWARNcomponent_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 + 17.44sWARNplanning_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. + 17.44sWARNplanning_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. + 17.45sWARNcomponent_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 + 17.45sWARNplanning_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. + 17.45sWARNplanning_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. + 17.45sWARNcomponent_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 + 17.45sWARNplanning_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. + 17.45sWARNcomponent_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 + 17.45sWARNplanning_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. + 17.45sWARNcomponent_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 + 17.45sWARNcomponent_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 + 17.45sWARNcomponent_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 + 17.71sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 17.71sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 17.71sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 17.71sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 17.72sINFOros2-16process has finished cleanly [pid 9214] ×2 + 17.81sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 17.81sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 17.85sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 17.85sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 17.85sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 17.85sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 17.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 17.86sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 17.88sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 17.88sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 17.88sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 17.88sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 17.90sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 17.90sINFOmove_groupMoveGroup debug mode is ON + 17.90sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 17.90sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 17.91sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 17.96sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 17.96sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 18.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.03sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 18.05sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.06sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 18.06sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.06sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 18.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225761 ms (missed cycles : 2). + 18.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225761 ms (missed cycles : 2).[0m ×2 + 18.20sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.27sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.27sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.27sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.27sINFOstreaming_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) + 18.27sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.28sINFOcomponent_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 + 18.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 18.28sINFOros2_control_node[2026-06-30 17:48:08.178] [info] Controller state will be published at 20 Hz. ×2 + 18.28sINFOros2_control_node[2026-06-30 17:48:08.179] [info] JointVelocityController 'on_configure' succeeded. ×2 + 18.29sINFOmove_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
********************************************************
+ 18.29sINFOmove_group ×8 + 18.29sINFOmove_group******************************************************** ×4 + 18.29sINFOmove_group* MoveGroup using: ×2 + 18.29sINFOmove_group* - apply_planning_scene_service ×2 + 18.29sINFOmove_group* - clear_octomap_service ×2 + 18.29sINFOmove_group* - ExecuteTaskSolution ×2 + 18.29sINFOmove_group* - get_group_urdf ×2 + 18.29sINFOmove_group* - load_geometry_from_file ×2 + 18.29sINFOmove_group* - get_planning_scene_service ×2 + 18.29sINFOmove_group* - kinematics_service ×2 + 18.29sINFOmove_group* - save_geometry_to_file ×2 + 18.29sINFOmove_group* - GetPlanningGroups ×2 + 18.29sINFOmove_group* - SetActiveControllerService ×2 + 18.29sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.29sINFOmove_group[0m ×2 + 18.29sINFOmove_group[92mYou can start planning now![0m ×2 + 18.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 18.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 18.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 18.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 18.65sINFOros2-19process has finished cleanly [pid 9217] ×2 + 18.68sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 18.68sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 18.68sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 18.68sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 18.93sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 19.05sINFOros2_control_node[2026-06-30 17:48:08.959] [info] Controller state will be published at 20 Hz. ×2 + 19.06sINFOros2_control_node[2026-06-30 17:48:08.960] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622602 ms (missed cycles : 3). + 19.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622602 ms (missed cycles : 3).[0m ×2 + 19.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 19.43sINFOros2-18process has finished cleanly [pid 9216] ×2 + 19.68sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 19.68sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 19.68sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 19.68sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 19.69sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 19.69sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 19.71sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 19.71sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 19.72sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 19.72sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 19.72sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 19.72sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 19.72sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 19.73sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 19.73sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 19.73sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 19.74sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 19.74sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 19.74sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 19.74sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 20.05sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 20.05sINFOcontroller_managerLoading controller 'vacuum_gripper' + 20.05sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 20.05sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 20.06sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 20.06sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 20.07sINFOros2-11process has finished cleanly [pid 9209] ×2 + 20.08sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 20.08sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 20.12sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 20.13sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 20.13sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 20.13sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 20.13sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 20.13sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 20.13sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 20.13sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 20.14sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 20.14sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 20.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2). + 20.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2).[0m ×2 + 20.48sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 20.48sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 20.48sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 20.48sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 20.48sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 20.48sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 20.51sINFOros2-13process has finished cleanly [pid 9211] ×2 + 20.55sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 20.55sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 20.55sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 20.55sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 20.94sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 20.94sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 20.94sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 21.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 21.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 21.30sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 21.30sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 21.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 21.30sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 21.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 21.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 21.32sINFOros2-17process has finished cleanly [pid 9215] ×2 + 21.43sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 21.43sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 21.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 21.45sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 21.45sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 21.45sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 21.45sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 21.45sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 21.45sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 21.45sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 21.45sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 21.45sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 21.45sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 21.45sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 21.45sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 21.75sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 21.75sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 21.75sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 21.75sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 21.75sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 21.75sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 21.79sINFOros2-15process has finished cleanly [pid 9213] ×2 + 21.82sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 21.83sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 21.84sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 21.84sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 21.85sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 21.85sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 21.85sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 21.85sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 22.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 22.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 22.34sINFOros2-10process has finished cleanly [pid 9208] ×2 + 22.35sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 22.61sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 22.61sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 22.61sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 22.61sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 22.61sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 22.61sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 22.64sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 22.64sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 22.64sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 22.64sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 22.64sINFOplatform_velocity_controllerconfigure successful + 22.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 22.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 22.65sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 22.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 22.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 22.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 22.98sINFOros2-12process has finished cleanly [pid 9210] ×2 + 23.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 23.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 23.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 23.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 23.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 23.44sINFOmove_groupClearing octomap...[0m ×2 + 23.44sINFOmove_groupOctomap cleared.[0m ×2 + 23.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 24.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 24.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 24.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 24.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 24.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 25.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 25.31sINFOobjective_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 + 25.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 25.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 25.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 25.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 25.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 25.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 25.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 25.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 25.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 25.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 25.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.36sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 25.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 25.79sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 25.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 25.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 25.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 25.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 25.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 25.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 25.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 25.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 30 warnings · 278 info |
+ 0.00sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.00sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.00sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.01sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.02sINFOros2-11process has finished cleanly [pid 9209] ×2 + 0.03sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.07sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.07sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.07sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.08sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.09sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.09sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2).[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.42sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.46sINFOros2-13process has finished cleanly [pid 9211] ×2 + 0.50sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 0.50sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.52sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.89sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.89sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.89sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 1.24sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.24sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.24sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.25sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.27sINFOros2-17process has finished cleanly [pid 9215] ×2 + 1.38sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.38sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.39sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.39sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.39sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.40sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.40sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.40sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.40sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.69sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.69sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.69sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.70sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.70sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.74sINFOros2-15process has finished cleanly [pid 9213] ×2 + 1.77sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.77sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.79sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.80sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.80sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.80sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 2.29sINFOros2-10process has finished cleanly [pid 9208] ×2 + 2.30sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.30sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.56sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 2.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.56sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 2.59sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 2.59sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 2.59sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.59sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.59sINFOplatform_velocity_controllerconfigure successful + 2.59sINFOros2_control_nodeconfigure successful[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.60sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 2.60sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.93sINFOros2-12process has finished cleanly [pid 9210] ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.39sINFOmove_groupClearing octomap...[0m ×2 + 3.39sINFOmove_groupOctomap cleared.[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 5.26sINFOobjective_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 + 5.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 5.30sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.92sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.19sINFOjoint_trajectory_controllerReceived new action goal + 7.19sINFOjoint_trajectory_controllerAccepted new action goal + 7.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 30 warnings · 301 info |
+ 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.00sINFOros2-18process has finished cleanly [pid 9216] ×2 + 0.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.29sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.29sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.30sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.30sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.30sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.30sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.30sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.30sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.30sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.31sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.32sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.32sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.63sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.63sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.63sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.65sINFOros2-11process has finished cleanly [pid 9209] ×2 + 0.65sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.66sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.70sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.70sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.70sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.71sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.71sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.72sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.72sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2).[0m ×2 + 1.05sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.05sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.06sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.06sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.09sINFOros2-13process has finished cleanly [pid 9211] ×2 + 1.13sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.13sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 1.87sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.87sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.87sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.88sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.88sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.90sINFOros2-17process has finished cleanly [pid 9215] ×2 + 2.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.02sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.02sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.02sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.02sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.03sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.03sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.03sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.03sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.03sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.03sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.32sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.32sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.32sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.33sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 2.33sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 2.37sINFOros2-15process has finished cleanly [pid 9213] ×2 + 2.40sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 2.40sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.42sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.42sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.43sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 2.43sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 2.91sINFOros2-10process has finished cleanly [pid 9208] ×2 + 2.92sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.19sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.19sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.19sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.19sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 3.19sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.19sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 3.21sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 3.22sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 3.22sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.22sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.22sINFOplatform_velocity_controllerconfigure successful + 3.22sINFOros2_control_nodeconfigure successful[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 3.23sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.56sINFOros2-12process has finished cleanly [pid 9210] ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.02sINFOmove_groupClearing octomap...[0m ×2 + 4.02sINFOmove_groupOctomap cleared.[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 5.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | skipped |
No ROS log lines in this test's time window. | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 301 info |
+ 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.00sINFOros2-18process has finished cleanly [pid 9216] ×2 + 0.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.29sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.29sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.30sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.30sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.30sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.30sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.30sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.30sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.30sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.31sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.32sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.32sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.63sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.63sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.63sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.65sINFOros2-11process has finished cleanly [pid 9209] ×2 + 0.65sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.66sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.70sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.70sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.70sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.71sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.71sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.72sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.72sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2).[0m ×2 + 1.05sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.05sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.06sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.06sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.09sINFOros2-13process has finished cleanly [pid 9211] ×2 + 1.13sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.13sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 1.87sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.87sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.87sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.88sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.88sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.90sINFOros2-17process has finished cleanly [pid 9215] ×2 + 2.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.02sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.02sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.02sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.02sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.03sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.03sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.03sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.03sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.03sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.03sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.32sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.32sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.32sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.33sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 2.33sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 2.37sINFOros2-15process has finished cleanly [pid 9213] ×2 + 2.40sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 2.40sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.42sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.42sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.43sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 2.43sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 2.91sINFOros2-10process has finished cleanly [pid 9208] ×2 + 2.92sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.19sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.19sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.19sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.19sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 3.19sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.19sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 3.21sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 3.22sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 3.22sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.22sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.22sINFOplatform_velocity_controllerconfigure successful + 3.22sINFOros2_control_nodeconfigure successful[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 3.23sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.56sINFOros2-12process has finished cleanly [pid 9210] ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.02sINFOmove_groupClearing octomap...[0m ×2 + 4.02sINFOmove_groupOctomap cleared.[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 5.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 301 info |
+ 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.00sINFOros2-18process has finished cleanly [pid 9216] ×2 + 0.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.29sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.29sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.30sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.30sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.30sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.30sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.30sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.30sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.30sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.31sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.32sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.32sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.63sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.63sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.63sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.65sINFOros2-11process has finished cleanly [pid 9209] ×2 + 0.65sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.66sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.70sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.70sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.70sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.71sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.71sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.72sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.72sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2).[0m ×2 + 1.05sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.05sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.06sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.06sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.09sINFOros2-13process has finished cleanly [pid 9211] ×2 + 1.13sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.13sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 1.87sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.87sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.87sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.88sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.88sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.90sINFOros2-17process has finished cleanly [pid 9215] ×2 + 2.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.02sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.02sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.02sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.02sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.03sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.03sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.03sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.03sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.03sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.03sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.32sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.32sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.32sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.33sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 2.33sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 2.37sINFOros2-15process has finished cleanly [pid 9213] ×2 + 2.40sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 2.40sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.42sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.42sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.43sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 2.43sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 2.91sINFOros2-10process has finished cleanly [pid 9208] ×2 + 2.92sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.19sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.19sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.19sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.19sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 3.19sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.19sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 3.21sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 3.22sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 3.22sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.22sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.22sINFOplatform_velocity_controllerconfigure successful + 3.22sINFOros2_control_nodeconfigure successful[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 3.23sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.56sINFOros2-12process has finished cleanly [pid 9210] ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.02sINFOmove_groupClearing octomap...[0m ×2 + 4.02sINFOmove_groupOctomap cleared.[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 5.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 301 info |
+ 0.00sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.00sINFOros2-18process has finished cleanly [pid 9216] ×2 + 0.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.29sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.29sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.30sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.30sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.30sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.30sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.30sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.30sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.30sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.31sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.32sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.32sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.63sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.63sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.63sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.65sINFOros2-11process has finished cleanly [pid 9209] ×2 + 0.65sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.66sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.70sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.70sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.70sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.71sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.71sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.72sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.72sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2).[0m ×2 + 1.05sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.05sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.06sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.06sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.09sINFOros2-13process has finished cleanly [pid 9211] ×2 + 1.13sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 1.13sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 1.52sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 1.87sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.87sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.87sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.88sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.88sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.90sINFOros2-17process has finished cleanly [pid 9215] ×2 + 2.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.02sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.02sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.02sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.02sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.03sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.03sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.03sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.03sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.03sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.03sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.32sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.32sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.32sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.33sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 2.33sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 2.37sINFOros2-15process has finished cleanly [pid 9213] ×2 + 2.40sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 2.40sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.42sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.42sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.43sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 2.43sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 2.91sINFOros2-10process has finished cleanly [pid 9208] ×2 + 2.92sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.19sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.19sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.19sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.19sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 3.19sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.19sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 3.21sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 3.22sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 3.22sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.22sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.22sINFOplatform_velocity_controllerconfigure successful + 3.22sINFOros2_control_nodeconfigure successful[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 3.23sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.56sINFOros2-12process has finished cleanly [pid 9210] ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.02sINFOmove_groupClearing octomap...[0m ×2 + 4.02sINFOmove_groupOctomap cleared.[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 5.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 24 warnings · 269 info |
+ 0.00sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.00sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.00sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.01sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.02sINFOros2-11process has finished cleanly [pid 9209] ×2 + 0.03sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.07sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.07sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.07sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.08sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.09sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.09sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686532 ms (missed cycles : 2).[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.42sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.46sINFOros2-13process has finished cleanly [pid 9211] ×2 + 0.50sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 0.50sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.52sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.89sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.89sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.89sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 1.24sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.24sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.24sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.25sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.27sINFOros2-17process has finished cleanly [pid 9215] ×2 + 1.38sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.38sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.39sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.39sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.39sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.40sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.40sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.40sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.40sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.69sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.69sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.69sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.70sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.70sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.74sINFOros2-15process has finished cleanly [pid 9213] ×2 + 1.77sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.77sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.79sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.80sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.80sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.80sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 2.29sINFOros2-10process has finished cleanly [pid 9208] ×2 + 2.30sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.30sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.56sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 2.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.56sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 2.59sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 2.59sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 2.59sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.59sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.59sINFOplatform_velocity_controllerconfigure successful + 2.59sINFOros2_control_nodeconfigure successful[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.60sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 2.60sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.93sINFOros2-12process has finished cleanly [pid 9210] ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.39sINFOmove_groupClearing octomap...[0m ×2 + 3.39sINFOmove_groupOctomap cleared.[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 5.26sINFOobjective_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 + 5.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 5.30sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_pose.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[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 | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 24 warnings · 228 info |
+ 0.00sINFOros2_control_node[2026-06-30 17:48:10.843] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.847] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-30 17:48:10.848] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9215] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.51sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.81sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 0.81sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 0.85sINFOros2-15process has finished cleanly [pid 9213] ×2 + 0.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.91sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.91sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701918 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2-10process has finished cleanly [pid 9208] ×2 + 1.41sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n + 1.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bd5b8mlf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g10ela2v --params-file /tmp/launch_params_tcadga7n [0m ×2 + 1.70sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.70sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.70sINFOplatform_velocity_controllerconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.71sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-12process has finished cleanly [pid 9210] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588908 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841693.34194422 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841693.35235953 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841693.91377592 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841693.92392373 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107071 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841694.47080040 seconds. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841694.62155271 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841695.20292711 seconds. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541189 ms (missed cycles : 3).[0m ×2 + 4.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841695.27307820 seconds ×3 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841695.82196498 seconds. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834718 ms (missed cycles : 3).[0m ×2 + 6.04sWARNobjective_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 + 6.04sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525080 ms (missed cycles : 4).[0m ×2 | ||||