69
Total objective tests
17
Objectives passed
0
Objectives failed
52
Objectives skipped
23.0s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 30.0s | 15 errors · 312 warnings · 1146 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/2026-07-10-15-27-05-652329-fce40ff74030-9198 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 12.58sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' + 12.58sINFOstatic_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' + 12.67sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 12.70sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 12.71sINFOcontroller_managerupdate rate is 600 Hz + 12.71sINFOcontroller_managerOverruns handling is : enabled + 12.71sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 12.71sWARNcontroller_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. + 12.77sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 12.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 12.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267769 ms (missed cycles : 5). + 12.82sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 12.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 12.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×2 + 12.85sINFOros2_control_node-7process started with pid [9254] ×2 + 12.85sINFOmove_group-19process started with pid [9332] ×2 + 12.85sINFOparameter_manager_node-20process started with pid [9333] ×2 + 12.85sINFOwaypoint_manager_node-21process started with pid [9334] ×2 + 12.85sINFOmove_joint_resampler_node-22process started with pid [9335] ×2 + 12.85sINFOmove_end_effector_resampler_node-23process started with pid [9395] ×2 + 12.86sINFOobjective_server_node_main-24process started with pid [9396] ×2 + 12.86sINFOcomponent_container_mt-25process started with pid [9397] ×2 + 12.86sINFOcomponent_container_mt-26process started with pid [9398] ×2 + 12.86sINFOexecute_objective_bridge-27process started with pid [9399] ×2 + 12.86sINFOui_teleop_bridge-28process started with pid [9400] ×2 + 12.86sINFOweb_bridge-29process started with pid [9401] ×2 + 12.86sINFOtf2_web_republisher_node-30process started with pid [9406] ×2 + 12.86sINFOweb_video_server-31process started with pid [9407] ×2 + 12.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 12.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 12.86sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 12.86sINFOcomponent_container_isolated-1process started with pid [9248] ×2 + 12.86sINFOstatic_transform_publisher-2process started with pid [9249] ×2 + 12.86sINFOstatic_transform_publisher-3process started with pid [9250] ×2 + 12.86sINFOodom_qos_relay.py-4process started with pid [9251] ×2 + 12.86sINFOscan_to_scan_filter_chain-5process started with pid [9252] ×2 + 12.86sINFOscan_to_scan_filter_chain-6process started with pid [9253] ×2 + 12.88sINFOros2-8process started with pid [9255] ×2 + 12.88sINFOros2-9process started with pid [9322] ×2 + 12.88sINFOros2-10process started with pid [9323] ×2 + 12.89sINFOros2-11process started with pid [9324] ×2 + 12.89sINFOros2-12process started with pid [9325] ×2 + 12.89sINFOros2-13process started with pid [9326] ×2 + 12.89sINFOros2-14process started with pid [9327] ×2 + 12.89sINFOros2-15process started with pid [9328] ×2 + 12.89sINFOros2-16process started with pid [9329] ×2 + 12.89sINFOros2-17process started with pid [9330] ×2 + 12.89sINFOros2-18process started with pid [9331] ×2 + 12.90sINFOcontroller_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. + 12.95sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 12.95sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 12.95sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 12.95sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 12.95sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 12.95sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 12.98sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 12.98sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 12.99sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 12.99sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 12.99sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 12.99sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 12.99sWARNros2_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 + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267769 ms (missed cycles : 5).[0m ×2 + 12.99sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 13.00sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.00sINFOcontroller_serverCreating controller server + 13.01sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 13.01sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 13.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 13.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.03sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.04sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.05sINFOlocal_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. + 13.06sINFOlocal_costmap.local_costmapCreating Costmap + 13.07sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.15sINFOrobot_state_publisherRobot initialized + 13.15sINFOcontroller_managerReceived robot description from topic. + 13.15sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.15sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.16sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.16sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.17sINFOmap_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. + 13.17sINFOmap_serverCreating + 13.17sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.18sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.18sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.18sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 13.19sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 13.20sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 13.20sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 13.21sINFOsmoother_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. + 13.22sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.22sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 13.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.24sINFOsmoother_serverCreating smoother server + 13.25sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 13.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.27sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.27sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 13.29sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 13.30sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 13.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.33sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×2 + 13.35sINFOplanner_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. + 13.36sINFOplanner_serverCreating + 13.38sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 13.38sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 13.38sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 13.38sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 13.38sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 13.38sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 13.38sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 13.38sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 13.38sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 13.38sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 13.38sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 13.38sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 13.39sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 13.39sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 13.39sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 13.39sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 13.39sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 13.39sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 13.40sINFOglobal_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. + 13.40sINFOglobal_costmap.global_costmapCreating Costmap + 13.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.42sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.44sINFOlifecycle_manager_localizationCreating + 13.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.46sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.46sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.46sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.46sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 13.49sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.49sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.50sINFOmap_serverConfiguring + 13.51sINFObehavior_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. + 13.55sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.251788 seconds + 13.55sINFOmove_groupLoaded robot model in 0.251788 seconds[0m ×2 + 13.55sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 13.55sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 13.56sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 13.56sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 13.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 13.56sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 13.56sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 13.56sINFOamclConfiguring + 13.59sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 13.59sWARNlaser_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. + 13.59sWARNscan_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 + 13.59sWARNlaser_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. + 13.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.59sINFOmap_serverActivating + 13.59sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 13.64sINFObt_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. + 13.68sINFObt_navigatorCreating + 13.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 13.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 13.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.71sINFOlifecycle_manager_localizationServer map_server connected with bond. + 13.71sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 13.71sINFOamclActivating + 13.71sINFOamclSubscribed to initial_pose_topic: /initialpose + 13.72sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 13.74sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.75sINFOamclSubscribed to map_topic: /map + 13.75sINFOamclSubscribed to scan_topic: /scan_merged + 13.75sINFOamclCreated reinitialize_global_localization service + 13.76sINFOamclCreated request_nomotion_update service + 13.76sINFOwaypoint_followerCreating + 13.76sINFOamclA new map was received + 13.76sINFOamclInitializing particle filter instance + 13.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 13.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 13.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.84sINFOvelocity_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. + 13.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 13.88sINFOlifecycle_manager_navigationCreating + 13.89sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 13.92sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 13.92sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 13.92sINFOcontroller_serverConfiguring controller interface + 13.92sINFOcontroller_servergetting progress checker plugins.. + 13.92sINFOcontroller_servergetting goal checker plugins.. + 13.92sINFOcontroller_serverController frequency set to 20.0000Hz + 13.92sINFOlocal_costmap.local_costmapConfiguring + 13.94sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935934 ms (missed cycles : 3). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935934 ms (missed cycles : 3).[0m ×2 + 13.96sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.00sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.00sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.01sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.04sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.05sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.05sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.06sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.08sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.09sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.11sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.11sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.13sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.13sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.14sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.14sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.15sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.15sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.16sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.16sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.17sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.18sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.18sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.19sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.19sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.19sINFOcontroller_serverOptimizer reset + 14.20sINFOcontroller_serverController Server has FollowPath controllers available. + 14.22sINFOwaypoint_manager_nodeLoaded robot model in 0.470228 seconds[0m ×2 + 14.22sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 14.22sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.25sINFOamclParticle filter initialization completed + 14.25sINFOamclInitializing particles from estimated pose and covariance + 14.25sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.25sINFOsmoother_serverConfiguring smoother server + 14.25sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 14.27sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.27sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.29sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.29sINFOplanner_serverConfiguring + 14.29sINFOglobal_costmap.global_costmapConfiguring + 14.30sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.30sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 14.30sWARNmove_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. + 14.30sWARNmove_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. + 14.31sWARNmove_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. + 14.31sWARNmove_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. + 14.31sWARNmove_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. + 14.31sWARNmove_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. + 14.31sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.31sWARNmove_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 + 14.31sWARNmove_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 + 14.31sWARNmove_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 + 14.31sWARNmove_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 + 14.31sWARNmove_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 + 14.31sWARNmove_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 + 14.31sWARNmove_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. + 14.31sWARNmove_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. + 14.32sWARNmove_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. + 14.32sWARNmove_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 + 14.32sWARNmove_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 + 14.32sWARNmove_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 + 14.32sWARNmove_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. + 14.32sINFOlifecycle_manager_localizationServer amcl connected with bond. + 14.32sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 14.32sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 14.32sWARNmove_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 + 14.35sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.36sINFOamclThe bond connection to the lifecycle manager is now fully formed + 14.36sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.36sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.36sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.40sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.40sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.41sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.43sFATALplanner_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 + 14.43sINFOplanner_serverCleaning up + 14.43sINFOglobal_costmap.global_costmapCleaning up + 14.43sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.52sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 14.52sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 14.53sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 14.53sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×6 + 14.69sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 14.69sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 14.69sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 14.69sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.01sWARNwaypoint_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. + 15.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.01sWARNwaypoint_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. + 15.02sWARNwaypoint_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. + 15.02sWARNwaypoint_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 + 15.02sWARNwaypoint_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 + 15.02sWARNwaypoint_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. + 15.03sWARNwaypoint_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 + 15.03sWARNwaypoint_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. + 15.04sWARNwaypoint_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 + 15.04sWARNwaypoint_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. + 15.04sWARNwaypoint_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 + 15.04sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 15.04sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 15.04sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 15.04sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 15.05sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 15.05sWARNwaypoint_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. + 15.05sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 15.05sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 15.05sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 15.05sWARNwaypoint_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. + 15.05sWARNwaypoint_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 + 15.05sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.05sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 15.05sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 15.06sWARNwaypoint_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 + 15.06sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 15.06sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 15.06sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 15.06sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 15.06sINFOmove_groupStarting planning scene monitor[0m ×2 + 15.06sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 15.07sWARNwaypoint_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. + 15.07sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 15.07sWARNwaypoint_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. + 15.07sINFOmove_groupListening to '/planning_scene'[0m ×2 + 15.07sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 15.07sINFOmove_groupListening to 'collision_object'[0m ×2 + 15.07sWARNwaypoint_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 + 15.07sWARNwaypoint_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 + 15.07sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 15.08sWARNwaypoint_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. + 15.08sWARNwaypoint_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. + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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. + 15.10sWARNwaypoint_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 + 15.10sWARNwaypoint_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. + 15.10sWARNwaypoint_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. + 15.10sWARNwaypoint_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 + 15.10sWARNwaypoint_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 + 15.10sWARNwaypoint_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 + 15.10sWARNwaypoint_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 + 15.10sWARNwaypoint_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 + 15.10sWARNwaypoint_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 + 15.10sWARNwaypoint_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 + 15.10sWARNwaypoint_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 + 15.10sWARNwaypoint_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 + 15.10sWARNwaypoint_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 + 15.10sWARNwaypoint_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 + 15.10sWARNwaypoint_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 + 15.10sWARNwaypoint_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 + 15.10sWARNwaypoint_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 + 15.10sWARNwaypoint_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 + 15.10sWARNwaypoint_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 + 15.10sWARNwaypoint_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 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.592020 ms (missed cycles : 7). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.592020 ms (missed cycles : 7).[0m ×2 + 15.56sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 15.56sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.57sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 15.59sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 15.59sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 15.59sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 15.59sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 15.59sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 15.59sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 15.59sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 15.59sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 15.59sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 15.59sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 15.59sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 15.59sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 15.59sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 15.59sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 15.59sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 15.59sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 15.60sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 15.60sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 15.60sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 15.60sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 15.60sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 15.60sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 15.60sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 15.60sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 15.64sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 15.64sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 15.64sWARNros2_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 + 15.80sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 15.80sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 15.80sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 15.80sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 15.80sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg + 15.80sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg [0m ×2 + 15.84sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 15.84sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 15.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 15.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 15.85sINFOforce_torque_sensor_broadcasterconfigure successful + 15.85sINFOros2_control_nodeconfigure successful[0m ×6 + 15.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 15.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 15.85sINFOcontroller_managerSuccessfully switched controllers! ×7 + 15.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 15.86sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 15.86sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976181 ms (missed cycles : 2). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976181 ms (missed cycles : 2).[0m ×2 + 16.17sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 16.17sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 16.17sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 16.17sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 16.18sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg + 16.18sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg [0m ×2 + 16.22sINFOros2-8process has finished cleanly [pid 9255] ×2 + 16.26sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 16.26sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 16.26sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 16.26sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 16.27sINFOplatform_velocity_controllerconfigure successful + 16.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 16.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 16.28sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 16.28sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 16.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 16.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 16.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 16.30sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 16.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 16.30sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 16.33sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 16.33sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 16.33sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 16.33sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 16.33sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 16.33sINFOstreaming_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) + 16.33sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 16.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 16.34sINFOcomponent_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 + 16.34sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 16.34sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 16.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.38sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.38sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 16.41sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 16.41sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 16.58sINFOobjective_server_node[2026-07-10 15:27:25.378] [moveit_pro_license] [info] ×2 + 16.58sINFOobjective_server_node************************************************* ×4 + 16.58sINFOobjective_server_node* MoveIt Pro License ×2 + 16.58sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.59sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 16.59sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 16.59sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 16.59sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 16.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 16.59sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 16.60sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 16.60sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg + 16.60sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg [0m ×2 + 16.61sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.61sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.62sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.63sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 16.63sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 16.63sINFOros2-11process has finished cleanly [pid 9324] ×2 + 16.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 16.64sWARNcomponent_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_nodeLoaded robot model in 0.0366861 seconds[0m ×2 + 16.68sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 16.68sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.75sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 16.75sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 16.75sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 16.75sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 16.75sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 16.75sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 16.75sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 16.75sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 16.75sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 16.75sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 16.75sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 16.75sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 16.76sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 16.76sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 16.76sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 16.84sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1783697244.525 for reason 'discarding message because the queue is full' + 17.00sINFOcomponent_container_mtLoaded robot model in 0.365648 seconds[0m ×2 + 17.00sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 17.01sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.07sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 17.07sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 17.07sWARNobjective_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. + 17.07sWARNobjective_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. + 17.08sWARNobjective_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 + 17.08sWARNobjective_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 + 17.08sWARNobjective_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. + 17.08sWARNobjective_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. + 17.08sWARNobjective_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 + 17.08sWARNobjective_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 + 17.08sWARNobjective_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. + 17.08sWARNobjective_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. + 17.08sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 17.08sWARNobjective_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 + 17.08sWARNobjective_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 + 17.08sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 17.08sWARNobjective_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. + 17.08sWARNobjective_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. + 17.08sWARNobjective_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. + 17.08sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 17.08sWARNobjective_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. + 17.08sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 17.08sWARNobjective_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 + 17.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg + 17.09sWARNobjective_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 + 17.09sWARNobjective_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 + 17.09sWARNobjective_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 + 17.09sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg [0m ×2 + 17.15sINFOros2-14process has finished cleanly [pid 9327] ×2 + 17.16sINFOobjective_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 + 17.16sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684106 ms (missed cycles : 2). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684106 ms (missed cycles : 2).[0m ×2 + 17.16sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 17.17sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 17.17sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 17.17sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 17.17sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 17.17sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 17.18sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 17.18sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 17.18sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 17.18sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 17.18sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 17.18sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 17.18sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 17.18sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 17.18sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 17.40sWARNplanning_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. + 17.40sWARNplanning_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. + 17.40sWARNcomponent_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 + 17.40sWARNcomponent_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 + 17.40sWARNplanning_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. + 17.40sWARNplanning_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. + 17.40sWARNcomponent_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 + 17.40sWARNplanning_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. + 17.40sWARNcomponent_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 + 17.41sWARNplanning_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. + 17.41sWARNcomponent_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 + 17.41sWARNcomponent_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 + 17.41sWARNplanning_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. + 17.41sWARNplanning_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. + 17.41sWARNcomponent_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 + 17.41sWARNcomponent_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 + 17.41sWARNplanning_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. + 17.41sWARNplanning_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. + 17.41sWARNcomponent_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 + 17.42sWARNplanning_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. + 17.42sWARNcomponent_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 + 17.42sWARNplanning_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. + 17.42sWARNcomponent_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 + 17.42sWARNplanning_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. + 17.42sWARNcomponent_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 + 17.42sWARNplanning_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. + 17.42sWARNcomponent_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 + 17.42sWARNcomponent_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 + 17.42sWARNplanning_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. + 17.42sWARNplanning_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. + 17.42sWARNplanning_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. + 17.42sWARNcomponent_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 + 17.42sWARNplanning_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. + 17.42sWARNcomponent_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 + 17.43sWARNplanning_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. + 17.43sWARNplanning_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. + 17.43sWARNcomponent_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 + 17.43sWARNcomponent_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 + 17.43sWARNplanning_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. + 17.43sWARNplanning_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. + 17.43sWARNplanning_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. + 17.43sWARNplanning_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. + 17.43sWARNcomponent_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 + 17.43sWARNplanning_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. + 17.43sWARNcomponent_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 + 17.43sWARNplanning_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. + 17.43sWARNcomponent_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 + 17.43sWARNcomponent_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 + 17.43sWARNcomponent_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 + 17.43sWARNcomponent_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 + 17.43sWARNplanning_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. + 17.43sWARNplanning_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. + 17.43sWARNcomponent_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 + 17.43sWARNcomponent_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 + 17.43sWARNcomponent_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 + 17.43sWARNcomponent_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 + 17.55sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 17.55sINFOcontroller_managerLoading controller 'velocity_force_controller' + 17.55sINFOros2-9process has finished cleanly [pid 9322] ×2 + 17.55sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 17.55sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 17.67sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 17.67sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 17.71sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg + 17.71sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg [0m ×2 + 17.78sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 17.78sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 17.78sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 17.78sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 17.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 17.80sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 17.82sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 17.82sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 17.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 17.84sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 18.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.04sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 18.12sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 18.12sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 18.15sINFOros2_control_node[2026-07-10 15:27:26.954] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 18.16sINFOros2_control_node[2026-07-10 15:27:26.957] [info] Controller state will be published at 10 Hz. ×2 + 18.16sINFOros2_control_node[2026-07-10 15:27:26.959] [info] VelocityForceController 'on_configure' succeeded. ×2 + 18.22sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 18.22sINFOmove_groupMoveGroup debug mode is ON + 18.22sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 18.22sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.23sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118427 ms (missed cycles : 2). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118427 ms (missed cycles : 2).[0m ×2 + 18.27sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.28sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.28sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.28sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.28sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.28sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.34sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 18.39sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.46sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 18.46sINFOmove_group ×8 + 18.46sINFOmove_group******************************************************** ×4 + 18.46sINFOmove_group* MoveGroup using: ×2 + 18.46sINFOmove_group* - apply_planning_scene_service ×2 + 18.46sINFOmove_group* - clear_octomap_service ×2 + 18.46sINFOmove_group* - get_group_urdf ×2 + 18.46sINFOmove_group* - load_geometry_from_file ×2 + 18.46sINFOmove_group* - get_planning_scene_service ×2 + 18.46sINFOmove_group* - kinematics_service ×2 + 18.46sINFOmove_group* - save_geometry_to_file ×2 + 18.46sINFOmove_group* - GetPlanningGroups ×2 + 18.46sINFOmove_group* - SetActiveControllerService ×2 + 18.46sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.46sINFOmove_group[0m ×2 + 18.46sINFOmove_group[92mYou can start planning now![0m ×2 + 18.52sINFOros2-15process has finished cleanly [pid 9328] ×2 + 18.54sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 18.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 18.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 18.64sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg + 18.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg [0m ×2 + 18.67sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 18.67sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 18.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 18.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 19.03sINFOros2_control_node[2026-07-10 15:27:27.825] [info] Controller state will be published at 20 Hz. ×2 + 19.03sINFOros2_control_node[2026-07-10 15:27:27.830] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.10sWARNobjective_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 + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901567 ms (missed cycles : 2). + 19.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901567 ms (missed cycles : 2).[0m ×2 + 19.35sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1783697247.025 for reason 'discarding message because the queue is full' + 19.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 19.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 19.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 19.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 19.38sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 19.38sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg + 19.38sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg [0m ×2 + 19.38sINFOros2-17process has finished cleanly [pid 9330] ×2 + 19.45sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 19.45sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 19.45sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 19.45sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 19.45sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 19.45sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 19.45sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 19.45sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 19.45sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 19.45sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 19.46sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 19.46sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 19.47sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 19.47sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 19.64sINFOamclParticle filter update iteration stats: 2229 particles 723 points - 3.231ms + 19.80sINFOros2-10process has finished cleanly [pid 9323] ×2 + 19.82sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 19.83sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 19.83sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 19.83sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 19.83sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg + 19.83sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 19.83sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg [0m ×2 + 19.86sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 19.86sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 19.86sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 19.86sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 20.23sINFOros2_control_node[2026-07-10 15:27:29.031] [info] Controller state will be published at 20 Hz. ×2 + 20.23sINFOros2_control_node[2026-07-10 15:27:29.032] [info] JointVelocityController 'on_configure' succeeded. ×2 + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733553 ms (missed cycles : 2). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733553 ms (missed cycles : 2).[0m ×2 + 20.60sINFOros2-18process has finished cleanly [pid 9331] ×2 + 20.65sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 20.65sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 20.65sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 20.65sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg + 20.65sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 20.65sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg [0m ×2 + 20.72sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 20.72sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 20.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 20.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 20.73sINFOplatform_velocity_controller_nav2configure successful + 21.11sINFOros2-13process has finished cleanly [pid 9326] ×2 + 21.16sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 21.16sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 21.16sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 21.16sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 21.16sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg + 21.16sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg [0m ×2 + 21.24sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 21.24sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 21.24sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 21.24sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607895 ms (missed cycles : 4). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607895 ms (missed cycles : 4).[0m ×2 + 21.60sINFOros2_control_node[2026-07-10 15:27:30.402] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 21.60sINFOros2_control_node[2026-07-10 15:27:30.404] [info] Controller state will be published at 10 Hz. ×2 + 21.61sINFOros2_control_node[2026-07-10 15:27:30.405] [info] VelocityForceController 'on_configure' succeeded. ×2 + 21.98sINFOros2-16process has finished cleanly [pid 9329] ×2 + 21.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 21.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 21.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 21.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 22.00sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg + 22.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_2szalqnp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_utbg5iyb --params-file /tmp/launch_params_l3hhz6tg [0m ×2 + 22.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 22.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 22.07sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 22.07sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 22.07sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 22.07sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 22.07sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 22.07sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 22.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 22.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 22.08sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 22.08sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 22.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 22.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602789 ms (missed cycles : 4). + 22.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602789 ms (missed cycles : 4).[0m ×2 + 22.43sINFOros2-12process has finished cleanly [pid 9325] ×2 + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2). + 23.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2).[0m ×2 + 24.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5). + 24.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5).[0m ×2 + 25.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 25.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 25.65sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 26.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 26.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 27.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 27.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 27.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 27.44sINFOmove_groupClearing octomap...[0m ×2 + 27.44sINFOmove_groupOctomap cleared.[0m ×2 + 27.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 28.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 28.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 28.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 28.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 29.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 29.52sINFOobjective_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 + 29.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 29.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 29.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 29.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 29.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 29.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 29.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 29.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 29.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 29.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 29.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 29.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass25 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 70.3s | 3 errors · 225 warnings · 215 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381303 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381303 ms (missed cycles : 5).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 3534 particles 723 points - 4.899ms + 0.92sINFOamclParticle filter update iteration stats: 3024 particles 723 points - 3.389ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718795 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718795 ms (missed cycles : 3).[0m ×2 + 1.42sINFOamclParticle filter update iteration stats: 2815 particles 723 points - 3.057ms + 1.93sINFOamclParticle filter update iteration stats: 2397 particles 723 points - 2.745ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013726 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013726 ms (missed cycles : 2).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 2.318ms + 2.92sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 2.808ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065605 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065605 ms (missed cycles : 3).[0m ×2 + 3.42sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.528ms + 3.92sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 2.114ms + 4.06sINFOjoint_trajectory_controllerGot request to cancel goal + 4.06sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.06sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1783697465.49336457 seconds ×3 + 4.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.707720 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.707720 ms (missed cycles : 4).[0m ×2 + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.670ms + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.850ms + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1783697466.05052280 seconds. ×3 + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.723ms + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.202ms + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673881 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673881 ms (missed cycles : 4).[0m ×2 + 5.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.936ms + 5.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.806ms + 5.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.860ms + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.867ms + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010186 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010186 ms (missed cycles : 2).[0m ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.30sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.30sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.974ms + 6.73sINFOamclParticle filter update iteration stats: 4290 particles 723 points - 5.964ms + 7.03sINFOamclParticle filter update iteration stats: 3159 particles 723 points - 4.074ms + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957808 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957808 ms (missed cycles : 2).[0m ×2 + 7.32sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 3.482ms + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317810 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317810 ms (missed cycles : 2).[0m ×2 + 9.31sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 2.214ms + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.441602 ms (missed cycles : 5). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.441602 ms (missed cycles : 5).[0m ×2 + 9.81sINFOamclParticle filter update iteration stats: 1225 particles 723 points - 1.931ms + 10.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792702 ms (missed cycles : 3). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792702 ms (missed cycles : 3).[0m ×2 + 10.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms ×2 + 11.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557565 ms (missed cycles : 2). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557565 ms (missed cycles : 2).[0m ×2 + 11.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.129ms + 12.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.345951 ms (missed cycles : 8). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.345951 ms (missed cycles : 8).[0m ×2 + 12.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.049ms + 13.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.108ms + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.662812 ms (missed cycles : 9). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.662812 ms (missed cycles : 9).[0m ×2 + 13.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 14.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839088 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839088 ms (missed cycles : 2).[0m ×2 + 14.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 15.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172620 ms (missed cycles : 2). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172620 ms (missed cycles : 2).[0m ×2 + 15.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms + 16.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081329 ms (missed cycles : 3). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081329 ms (missed cycles : 3).[0m ×2 + 16.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms ×2 + 17.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.483802 ms (missed cycles : 5). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.483802 ms (missed cycles : 5).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.790ms ×2 + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.760895 ms (missed cycles : 7). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.760895 ms (missed cycles : 7).[0m ×2 + 18.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 19.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898213 ms (missed cycles : 2). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898213 ms (missed cycles : 2).[0m ×2 + 19.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170273 ms (missed cycles : 3). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170273 ms (missed cycles : 3).[0m ×2 + 20.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms ×2 + 21.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.804ms ×2 + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265440 ms (missed cycles : 3). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265440 ms (missed cycles : 3).[0m ×2 + 21.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 22.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 22.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773344 ms (missed cycles : 2). + 22.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773344 ms (missed cycles : 2).[0m ×2 + 22.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.785ms ×2 + 23.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870546 ms (missed cycles : 2). + 23.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870546 ms (missed cycles : 2).[0m ×2 + 23.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 24.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382684 ms (missed cycles : 5). + 24.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382684 ms (missed cycles : 5).[0m ×2 + 24.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 25.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 25.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.912915 ms (missed cycles : 6). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.912915 ms (missed cycles : 6).[0m ×2 + 26.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 26.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.905249 ms (missed cycles : 6). + 26.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.905249 ms (missed cycles : 6).[0m ×2 + 27.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 27.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978251 ms (missed cycles : 3). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978251 ms (missed cycles : 3).[0m ×2 + 28.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 28.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.741ms + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758848 ms (missed cycles : 2). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758848 ms (missed cycles : 2).[0m ×2 + 29.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 30.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.058554 ms (missed cycles : 6). + 30.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.058554 ms (missed cycles : 6).[0m ×2 + 30.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 30.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056610 ms (missed cycles : 3). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056610 ms (missed cycles : 3).[0m ×2 + 31.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 31.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.798ms + 32.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183351 ms (missed cycles : 2). + 32.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183351 ms (missed cycles : 2).[0m ×2 + 32.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.773ms ×3 + 33.04sINFOros2_control_nodeMuJoCo sim: 1.12% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 33.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117595 ms (missed cycles : 3). + 33.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117595 ms (missed cycles : 3).[0m ×2 + 33.63sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.63sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.89sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908592 ms (missed cycles : 3). + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908592 ms (missed cycles : 3).[0m ×2 + 34.54sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 35.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900385 ms (missed cycles : 2). + 35.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900385 ms (missed cycles : 2).[0m ×2 + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875251 ms (missed cycles : 3). + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875251 ms (missed cycles : 3).[0m ×2 + 36.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.787ms + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531336 ms (missed cycles : 2). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531336 ms (missed cycles : 2).[0m ×2 + 37.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 37.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 38.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130596 ms (missed cycles : 2). + 38.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130596 ms (missed cycles : 2).[0m ×2 + 38.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 38.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms + 39.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430396 ms (missed cycles : 4). + 39.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430396 ms (missed cycles : 4).[0m ×2 + 39.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.706ms + 40.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180298 ms (missed cycles : 6). + 40.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180298 ms (missed cycles : 6).[0m ×2 + 41.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410114 ms (missed cycles : 3). + 41.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410114 ms (missed cycles : 3).[0m ×2 + 42.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812804 ms (missed cycles : 3). + 42.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812804 ms (missed cycles : 3).[0m ×2 + 43.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011968 ms (missed cycles : 3). + 43.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011968 ms (missed cycles : 3).[0m ×2 + 43.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.037ms + 44.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001848 ms (missed cycles : 3). + 44.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001848 ms (missed cycles : 3).[0m ×2 + 44.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 45.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370207 ms (missed cycles : 2). + 45.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370207 ms (missed cycles : 2).[0m ×2 + 45.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 46.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 46.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502580 ms (missed cycles : 2). + 46.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502580 ms (missed cycles : 2).[0m ×2 + 47.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 47.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625653 ms (missed cycles : 4). + 47.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625653 ms (missed cycles : 4).[0m ×2 + 48.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.766ms + 48.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196335 ms (missed cycles : 5). + 48.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196335 ms (missed cycles : 5).[0m ×2 + 49.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818497 ms (missed cycles : 4). + 49.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818497 ms (missed cycles : 4).[0m ×2 + 50.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms ×2 + 50.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074138 ms (missed cycles : 2). + 50.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074138 ms (missed cycles : 2).[0m ×2 + 51.10sINFOobjective_server_nodePlanning for 42 path waypoints. ×3 + 51.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.179056 ms (missed cycles : 6). + 51.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.179056 ms (missed cycles : 6).[0m ×2 + 52.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805924 ms (missed cycles : 4). + 52.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805924 ms (missed cycles : 4).[0m ×2 + 53.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705794 ms (missed cycles : 6). + 53.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705794 ms (missed cycles : 6).[0m ×2 + 54.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006918 ms (missed cycles : 4). + 54.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006918 ms (missed cycles : 4).[0m ×2 + 55.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 55.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.329961 ms (missed cycles : 6). + 55.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.329961 ms (missed cycles : 6).[0m ×2 + 56.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 56.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022622 ms (missed cycles : 2). + 56.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022622 ms (missed cycles : 2).[0m ×2 + 57.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 58.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749107 ms (missed cycles : 4). + 58.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749107 ms (missed cycles : 4).[0m ×2 + 59.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517809 ms (missed cycles : 5). + 59.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517809 ms (missed cycles : 5).[0m ×2 + 59.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 60.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 60.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711712 ms (missed cycles : 2). + 60.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711712 ms (missed cycles : 2).[0m ×2 + 60.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.732ms + 61.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.765208 ms (missed cycles : 6). + 61.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.765208 ms (missed cycles : 6).[0m ×2 + 61.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 62.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615535 ms (missed cycles : 2). + 62.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615535 ms (missed cycles : 2).[0m ×2 + 62.91sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 63.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686635 ms (missed cycles : 2). + 63.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686635 ms (missed cycles : 2).[0m ×2 + 64.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415483 ms (missed cycles : 5). + 64.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415483 ms (missed cycles : 5).[0m ×2 + 65.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926243 ms (missed cycles : 2). + 65.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926243 ms (missed cycles : 2).[0m ×2 + 66.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375360 ms (missed cycles : 4). + 66.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375360 ms (missed cycles : 4).[0m ×2 + 67.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237147 ms (missed cycles : 2). + 67.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237147 ms (missed cycles : 2).[0m ×2 + 67.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.743ms + 68.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.821ms + 68.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729760 ms (missed cycles : 2). + 68.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729760 ms (missed cycles : 2).[0m ×2 + 68.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 69.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803444 ms (missed cycles : 3). + 69.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803444 ms (missed cycles : 3).[0m ×2 + 70.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 70.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3). + 70.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3).[0m ×2 + 71.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 71.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2). + 71.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2).[0m ×2 + 72.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2). + 72.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2).[0m ×2 + 73.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2). + 73.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2).[0m ×2 + 73.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 74.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2). + 74.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2).[0m ×2 + 74.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783697535.83076072 seconds ×3 + 74.52sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 2.140ms + 74.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.679ms + 74.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.657ms + 74.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783697536.40532327 seconds. ×3 + 75.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 75.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 75.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3). + 75.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3).[0m ×2 + 75.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.495ms + 75.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 76.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.661ms + 76.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5). + 76.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5).[0m ×2 + 76.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.431ms + 76.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.437ms + 77.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.464ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.1s | 186 warnings · 164 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783697302.13886738 seconds ×3 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622611 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622611 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783697302.70240617 seconds. ×3 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (3.2491e-05 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.58sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.58sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.58sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.58sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976500 ms (missed cycles : 3). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976500 ms (missed cycles : 3).[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427891 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427891 ms (missed cycles : 4).[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662240 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662240 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1783697305.77257347 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1783697306.33022046 seconds. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275685 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275685 ms (missed cycles : 2).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851237 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851237 ms (missed cycles : 3).[0m ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985395 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985395 ms (missed cycles : 2).[0m ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970154 ms (missed cycles : 2). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970154 ms (missed cycles : 2).[0m ×2 + 8.47sINFOamclParticle filter update iteration stats: 1640 particles 723 points - 2.230ms + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998266 ms (missed cycles : 3). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998266 ms (missed cycles : 3).[0m ×2 + 9.06sINFOamclParticle filter update iteration stats: 1460 particles 723 points - 1.750ms + 9.55sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 1.706ms + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293043 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293043 ms (missed cycles : 2).[0m ×2 + 10.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.156ms + 10.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948108 ms (missed cycles : 3). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948108 ms (missed cycles : 3).[0m ×2 + 11.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 11.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028608 ms (missed cycles : 3). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028608 ms (missed cycles : 3).[0m ×2 + 12.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 12.37sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067190 ms (missed cycles : 4). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067190 ms (missed cycles : 4).[0m ×2 + 13.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 13.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 14.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139086 ms (missed cycles : 4). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139086 ms (missed cycles : 4).[0m ×2 + 14.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 15.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374993 ms (missed cycles : 3). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374993 ms (missed cycles : 3).[0m ×2 + 15.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 16.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486258 ms (missed cycles : 3). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486258 ms (missed cycles : 3).[0m ×2 + 16.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 17.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168223 ms (missed cycles : 7). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168223 ms (missed cycles : 7).[0m ×2 + 17.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 18.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116356 ms (missed cycles : 3). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116356 ms (missed cycles : 3).[0m ×2 + 18.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 19.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 19.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.370593 ms (missed cycles : 4). + 19.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.370593 ms (missed cycles : 4).[0m ×2 + 19.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 20.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873330 ms (missed cycles : 3). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873330 ms (missed cycles : 3).[0m ×2 + 20.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms ×2 + 21.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827106 ms (missed cycles : 2). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827106 ms (missed cycles : 2).[0m ×2 + 21.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms ×2 + 22.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290138 ms (missed cycles : 3). + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290138 ms (missed cycles : 3).[0m ×2 + 22.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 23.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 23.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661600 ms (missed cycles : 3). + 23.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661600 ms (missed cycles : 3).[0m ×2 + 23.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 24.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 24.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.637127 ms (missed cycles : 7). + 24.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.637127 ms (missed cycles : 7).[0m ×2 + 24.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 25.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746524 ms (missed cycles : 4). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746524 ms (missed cycles : 4).[0m ×2 + 26.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 26.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101510 ms (missed cycles : 2). + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101510 ms (missed cycles : 2).[0m ×2 + 26.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 27.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158556 ms (missed cycles : 5). + 27.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158556 ms (missed cycles : 5).[0m ×2 + 27.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 28.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095373 ms (missed cycles : 2). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095373 ms (missed cycles : 2).[0m ×2 + 28.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 29.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 29.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.769ms + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201697 ms (missed cycles : 3). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201697 ms (missed cycles : 3).[0m ×2 + 30.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 30.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154971 ms (missed cycles : 2). + 30.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154971 ms (missed cycles : 2).[0m ×2 + 31.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.154ms + 31.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.760ms + 31.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503831 ms (missed cycles : 3). + 31.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503831 ms (missed cycles : 3).[0m ×2 + 32.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 32.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms ×2 + 32.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001629 ms (missed cycles : 2). + 32.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001629 ms (missed cycles : 2).[0m ×2 + 33.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393662 ms (missed cycles : 2). + 33.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393662 ms (missed cycles : 2).[0m ×2 + 33.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 34.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679312 ms (missed cycles : 3). + 34.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679312 ms (missed cycles : 3).[0m ×2 + 35.16sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200060 ms (missed cycles : 2). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200060 ms (missed cycles : 2).[0m ×2 + 36.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.779ms + 36.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771660 ms (missed cycles : 3). + 36.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771660 ms (missed cycles : 3).[0m ×2 + 37.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.010267 ms (missed cycles : 6). + 37.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.010267 ms (missed cycles : 6).[0m ×2 + 38.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043242 ms (missed cycles : 2). + 38.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043242 ms (missed cycles : 2).[0m ×2 + 39.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 39.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891773 ms (missed cycles : 3). + 39.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891773 ms (missed cycles : 3).[0m ×2 + 40.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385011 ms (missed cycles : 4). + 40.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385011 ms (missed cycles : 4).[0m ×2 + 41.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008859 ms (missed cycles : 5). + 41.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008859 ms (missed cycles : 5).[0m ×2 + 42.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 42.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045282 ms (missed cycles : 3). + 42.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045282 ms (missed cycles : 3).[0m ×2 + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686906 ms (missed cycles : 2). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686906 ms (missed cycles : 2).[0m ×2 + 45.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117864 ms (missed cycles : 3). + 45.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117864 ms (missed cycles : 3).[0m ×2 + 45.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 46.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778560 ms (missed cycles : 4). + 46.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778560 ms (missed cycles : 4).[0m ×2 + 47.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890279 ms (missed cycles : 2). + 47.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890279 ms (missed cycles : 2).[0m ×2 + 48.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090641 ms (missed cycles : 2). + 48.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090641 ms (missed cycles : 2).[0m ×2 + 48.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 49.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391337 ms (missed cycles : 3). + 49.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391337 ms (missed cycles : 3).[0m ×2 + 50.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822371 ms (missed cycles : 3). + 50.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822371 ms (missed cycles : 3).[0m ×2 + 51.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276272 ms (missed cycles : 3). + 51.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276272 ms (missed cycles : 3).[0m ×2 + 52.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 52.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669279 ms (missed cycles : 2). + 52.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669279 ms (missed cycles : 2).[0m ×2 + 53.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303465 ms (missed cycles : 3). + 53.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303465 ms (missed cycles : 3).[0m ×2 + 54.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.095774 ms (missed cycles : 6). + 54.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.095774 ms (missed cycles : 6).[0m ×2 + 55.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163928 ms (missed cycles : 2). + 55.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163928 ms (missed cycles : 2).[0m ×2 + 55.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.807ms + 56.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.737990 ms (missed cycles : 6). + 56.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.737990 ms (missed cycles : 6).[0m ×2 + 57.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036611 ms (missed cycles : 2). + 57.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036611 ms (missed cycles : 2).[0m ×2 + 58.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539937 ms (missed cycles : 5). + 58.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539937 ms (missed cycles : 5).[0m ×2 + 59.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253825 ms (missed cycles : 2). + 59.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253825 ms (missed cycles : 2).[0m ×2 + 60.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 60.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887736 ms (missed cycles : 2). + 60.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887736 ms (missed cycles : 2).[0m ×2 + 60.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783697362.86035347 seconds ×3 + 60.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.532ms + 61.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096666 ms (missed cycles : 3). + 61.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096666 ms (missed cycles : 3).[0m ×2 + 61.44sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783697363.52931738 seconds. ×3 + 61.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.081ms + 61.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.150ms + 61.79sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 61.81sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554511 ms (missed cycles : 5). + 62.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554511 ms (missed cycles : 5).[0m ×2 + 63.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.492ms + 63.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825257 ms (missed cycles : 5). + 63.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825257 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.6s | 183 warnings · 149 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3).[0m ×2 + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2).[0m ×2 + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2).[0m ×2 + 4.08sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.08sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783697535.83076072 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.21sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 2.140ms + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.679ms + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.657ms + 4.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783697536.40532327 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 5.07sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3).[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.495ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.661ms + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.431ms + 6.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.437ms + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.65sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.65sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.65sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.464ms + 7.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.363ms + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044523 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044523 ms (missed cycles : 2).[0m ×2 + 7.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.067ms + 7.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.426ms + 7.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.334ms + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.109250 ms (missed cycles : 6). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.109250 ms (missed cycles : 6).[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607625 ms (missed cycles : 3). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607625 ms (missed cycles : 3).[0m ×2 + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.398ms + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830259 ms (missed cycles : 3). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830259 ms (missed cycles : 3).[0m ×2 + 10.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.102ms + 10.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.850ms + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408451 ms (missed cycles : 5). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408451 ms (missed cycles : 5).[0m ×2 + 11.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.888ms + 11.91sINFOamclParticle filter update iteration stats: 4993 particles 723 points - 5.616ms + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179950 ms (missed cycles : 2). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179950 ms (missed cycles : 2).[0m ×2 + 12.40sINFOamclParticle filter update iteration stats: 4425 particles 723 points - 5.969ms + 12.90sINFOamclParticle filter update iteration stats: 3824 particles 723 points - 4.031ms + 13.40sINFOamclParticle filter update iteration stats: 3399 particles 723 points - 3.889ms + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991341 ms (missed cycles : 2). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991341 ms (missed cycles : 2).[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 2951 particles 723 points - 3.544ms + 14.41sINFOamclParticle filter update iteration stats: 2470 particles 723 points - 3.343ms + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632161 ms (missed cycles : 5). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632161 ms (missed cycles : 5).[0m ×2 + 14.91sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.283ms + 15.40sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.004ms + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312954 ms (missed cycles : 3). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312954 ms (missed cycles : 3).[0m ×2 + 15.90sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 1.745ms + 16.40sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 1.343ms + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.720565 ms (missed cycles : 5). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.720565 ms (missed cycles : 5).[0m ×2 + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms ×2 + 17.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900330 ms (missed cycles : 4). + 17.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900330 ms (missed cycles : 4).[0m ×2 + 17.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 18.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 18.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560644 ms (missed cycles : 3). + 18.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560644 ms (missed cycles : 3).[0m ×2 + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340151 ms (missed cycles : 3). + 19.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340151 ms (missed cycles : 3).[0m ×2 + 19.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.804ms + 20.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 20.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620477 ms (missed cycles : 3). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620477 ms (missed cycles : 3).[0m ×2 + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.772ms + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168737 ms (missed cycles : 2). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168737 ms (missed cycles : 2).[0m ×2 + 21.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 22.74sINFOros2_control_nodeMuJoCo sim: 1.12% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 22.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334856 ms (missed cycles : 4). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334856 ms (missed cycles : 4).[0m ×2 + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 23.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579574 ms (missed cycles : 3). + 23.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579574 ms (missed cycles : 3).[0m ×2 + 23.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 24.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 24.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.785ms + 24.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169504 ms (missed cycles : 2). + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169504 ms (missed cycles : 2).[0m ×2 + 25.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.057ms + 25.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406592 ms (missed cycles : 2). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406592 ms (missed cycles : 2).[0m ×2 + 26.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 26.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.796ms + 27.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702762 ms (missed cycles : 4). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702762 ms (missed cycles : 4).[0m ×2 + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 27.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 28.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.068412 ms (missed cycles : 6). + 28.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.068412 ms (missed cycles : 6).[0m ×2 + 28.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.730ms + 28.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319200 ms (missed cycles : 3). + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319200 ms (missed cycles : 3).[0m ×2 + 29.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 29.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.364ms + 30.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825097 ms (missed cycles : 4). + 30.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825097 ms (missed cycles : 4).[0m ×2 + 30.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 30.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 31.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138343 ms (missed cycles : 6). + 31.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138343 ms (missed cycles : 6).[0m ×2 + 31.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.152ms + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 32.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526657 ms (missed cycles : 3). + 32.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526657 ms (missed cycles : 3).[0m ×2 + 32.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726600 ms (missed cycles : 2). + 33.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726600 ms (missed cycles : 2).[0m ×2 + 33.91sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.557605 ms (missed cycles : 6). + 34.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.557605 ms (missed cycles : 6).[0m ×2 + 35.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527090 ms (missed cycles : 5). + 35.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527090 ms (missed cycles : 5).[0m ×2 + 36.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681453 ms (missed cycles : 2). + 36.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681453 ms (missed cycles : 2).[0m ×2 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378897 ms (missed cycles : 3). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378897 ms (missed cycles : 3).[0m ×2 + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126424 ms (missed cycles : 3). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126424 ms (missed cycles : 3).[0m ×2 + 39.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718008 ms (missed cycles : 2). + 39.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718008 ms (missed cycles : 2).[0m ×2 + 39.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 40.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551028 ms (missed cycles : 3). + 40.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551028 ms (missed cycles : 3).[0m ×2 + 41.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.455272 ms (missed cycles : 5). + 41.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.455272 ms (missed cycles : 5).[0m ×2 + 42.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 42.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843952 ms (missed cycles : 3). + 42.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843952 ms (missed cycles : 3).[0m ×2 + 43.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071781 ms (missed cycles : 3). + 43.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071781 ms (missed cycles : 3).[0m ×2 + 44.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 44.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320609 ms (missed cycles : 3). + 44.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320609 ms (missed cycles : 3).[0m ×2 + 45.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904302 ms (missed cycles : 2). + 45.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904302 ms (missed cycles : 2).[0m ×2 + 46.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000942 ms (missed cycles : 3). + 46.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000942 ms (missed cycles : 3).[0m ×2 + 47.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736349 ms (missed cycles : 2). + 47.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736349 ms (missed cycles : 2).[0m ×2 + 48.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 48.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441425 ms (missed cycles : 4). + 48.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441425 ms (missed cycles : 4).[0m ×2 + 49.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.464225 ms (missed cycles : 5). + 49.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.464225 ms (missed cycles : 5).[0m ×2 + 50.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810712 ms (missed cycles : 3). + 50.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810712 ms (missed cycles : 3).[0m ×2 + 50.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.131ms + 51.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096629 ms (missed cycles : 2). + 51.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096629 ms (missed cycles : 2).[0m ×2 + 52.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.226463 ms (missed cycles : 6). + 52.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.226463 ms (missed cycles : 6).[0m ×2 + 53.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239388 ms (missed cycles : 3). + 53.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239388 ms (missed cycles : 3).[0m ×2 + 54.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310264 ms (missed cycles : 2). + 54.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310264 ms (missed cycles : 2).[0m ×2 + 55.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.085ms + 55.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520970 ms (missed cycles : 5). + 55.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520970 ms (missed cycles : 5).[0m ×2 + 57.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502952 ms (missed cycles : 2). + 57.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502952 ms (missed cycles : 2).[0m ×2 + 58.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.621691 ms (missed cycles : 7). + 58.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.621691 ms (missed cycles : 7).[0m ×2 + 58.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 59.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774820 ms (missed cycles : 4). + 59.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774820 ms (missed cycles : 4).[0m ×2 + 59.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1783697591.41673899 seconds ×3 + 59.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.242ms + 59.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.591ms + 60.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702016 ms (missed cycles : 2). + 60.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702016 ms (missed cycles : 2).[0m ×2 + 60.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.094ms + 60.25sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1783697591.98642731 seconds. ×3 + 60.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.254ms + 60.58sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 60.60sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954274 ms (missed cycles : 3). + 61.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954274 ms (missed cycles : 3).[0m ×2 + 62.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794585 ms (missed cycles : 4). + 62.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794585 ms (missed cycles : 4).[0m ×2 + 62.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 55.3s | 180 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392423 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392423 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.745ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396205 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396205 ms (missed cycles : 2).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 1.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.086ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815653 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815653 ms (missed cycles : 3).[0m ×2 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 3.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698738 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698738 ms (missed cycles : 4).[0m ×2 + 3.84sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.85sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.89sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783697399.59524250 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.560ms + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.431ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107773 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107773 ms (missed cycles : 2).[0m ×2 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.315ms + 4.46sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783697400.16443539 seconds. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.760ms + 4.80sINFOobjective_server_nodeFound path in 0 iterations (9.7e-07 s). ×2 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.296ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854408 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854408 ms (missed cycles : 2).[0m ×2 + 5.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.143ms + 5.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.249ms + 5.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.713ms + 6.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.12sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.12sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310710 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310710 ms (missed cycles : 2).[0m ×2 + 6.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms + 7.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.568ms + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577359 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577359 ms (missed cycles : 3).[0m ×2 + 7.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.968ms + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681365 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681365 ms (missed cycles : 2).[0m ×2 + 8.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.671ms + 9.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.168ms + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175817 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175817 ms (missed cycles : 3).[0m ×2 + 9.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.043ms + 10.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.007ms + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071818 ms (missed cycles : 3). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071818 ms (missed cycles : 3).[0m ×2 + 10.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.281ms + 11.45sINFOamclParticle filter update iteration stats: 3783 particles 723 points - 4.292ms + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244003 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244003 ms (missed cycles : 2).[0m ×2 + 11.94sINFOamclParticle filter update iteration stats: 2690 particles 723 points - 3.057ms + 12.43sINFOamclParticle filter update iteration stats: 1640 particles 723 points - 2.527ms + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013308 ms (missed cycles : 6). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013308 ms (missed cycles : 6).[0m ×2 + 12.93sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 1.305ms + 13.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827643 ms (missed cycles : 2). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827643 ms (missed cycles : 2).[0m ×2 + 13.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 14.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776783 ms (missed cycles : 2). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776783 ms (missed cycles : 2).[0m ×2 + 14.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.806ms + 15.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms ×2 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.154607 ms (missed cycles : 4). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.154607 ms (missed cycles : 4).[0m ×2 + 15.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 16.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058619 ms (missed cycles : 3). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058619 ms (missed cycles : 3).[0m ×2 + 16.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.749ms + 17.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920963 ms (missed cycles : 2). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920963 ms (missed cycles : 2).[0m ×2 + 17.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.773ms + 18.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705117 ms (missed cycles : 3). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705117 ms (missed cycles : 3).[0m ×2 + 18.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 19.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171654 ms (missed cycles : 3). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171654 ms (missed cycles : 3).[0m ×2 + 19.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 20.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387563 ms (missed cycles : 4). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387563 ms (missed cycles : 4).[0m ×2 + 20.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 21.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296007 ms (missed cycles : 4). + 21.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296007 ms (missed cycles : 4).[0m ×2 + 21.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 22.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms ×2 + 22.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494893 ms (missed cycles : 3). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494893 ms (missed cycles : 3).[0m ×2 + 22.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 23.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703207 ms (missed cycles : 3). + 23.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703207 ms (missed cycles : 3).[0m ×2 + 23.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 24.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.786ms + 24.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938715 ms (missed cycles : 2). + 24.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938715 ms (missed cycles : 2).[0m ×2 + 24.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 25.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.738ms + 25.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.739ms + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.063847 ms (missed cycles : 7). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.063847 ms (missed cycles : 7).[0m ×2 + 26.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.796ms + 26.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 26.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466500 ms (missed cycles : 3). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466500 ms (missed cycles : 3).[0m ×2 + 27.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 27.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854054 ms (missed cycles : 3). + 28.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854054 ms (missed cycles : 3).[0m ×2 + 28.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 28.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 29.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.096233 ms (missed cycles : 7). + 29.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.096233 ms (missed cycles : 7).[0m ×2 + 29.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 29.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221179 ms (missed cycles : 3). + 30.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221179 ms (missed cycles : 3).[0m ×2 + 30.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 30.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 31.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167571 ms (missed cycles : 3). + 31.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167571 ms (missed cycles : 3).[0m ×2 + 31.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms ×2 + 32.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398724 ms (missed cycles : 5). + 32.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398724 ms (missed cycles : 5).[0m ×2 + 33.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503686 ms (missed cycles : 3). + 33.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503686 ms (missed cycles : 3).[0m ×2 + 34.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979771 ms (missed cycles : 2). + 34.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979771 ms (missed cycles : 2).[0m ×2 + 35.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229560 ms (missed cycles : 2). + 35.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229560 ms (missed cycles : 2).[0m ×2 + 36.01sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980025 ms (missed cycles : 3). + 36.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980025 ms (missed cycles : 3).[0m ×2 + 36.62sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454314 ms (missed cycles : 3). + 37.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454314 ms (missed cycles : 3).[0m ×2 + 38.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 38.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.526970 ms (missed cycles : 5). + 38.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.526970 ms (missed cycles : 5).[0m ×2 + 38.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 38.76sINFOros2_control_nodeMuJoCo sim: 0.92% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms ×2 + 39.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389086 ms (missed cycles : 3). + 39.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389086 ms (missed cycles : 3).[0m ×2 + 39.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.807ms + 40.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 40.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.775ms + 40.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.452090 ms (missed cycles : 4). + 40.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.452090 ms (missed cycles : 4).[0m ×2 + 40.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 41.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.016ms + 41.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503071 ms (missed cycles : 5). + 41.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503071 ms (missed cycles : 5).[0m ×2 + 41.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 42.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320451 ms (missed cycles : 3). + 42.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320451 ms (missed cycles : 3).[0m ×2 + 43.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364916 ms (missed cycles : 3). + 43.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364916 ms (missed cycles : 3).[0m ×2 + 44.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066335 ms (missed cycles : 6). + 44.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066335 ms (missed cycles : 6).[0m ×2 + 45.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.730ms + 45.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.416966 ms (missed cycles : 6). + 45.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.416966 ms (missed cycles : 6).[0m ×2 + 46.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 46.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381110 ms (missed cycles : 3). + 46.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381110 ms (missed cycles : 3).[0m ×2 + 47.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 47.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 47.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963585 ms (missed cycles : 3). + 47.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963585 ms (missed cycles : 3).[0m ×2 + 48.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms + 48.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345212 ms (missed cycles : 2). + 48.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345212 ms (missed cycles : 2).[0m ×2 + 49.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 50.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821190 ms (missed cycles : 3). + 50.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821190 ms (missed cycles : 3).[0m ×2 + 50.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 51.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816251 ms (missed cycles : 4). + 51.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816251 ms (missed cycles : 4).[0m ×2 + 51.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 52.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979425 ms (missed cycles : 2). + 52.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979425 ms (missed cycles : 2).[0m ×2 + 53.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068637 ms (missed cycles : 3). + 53.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068637 ms (missed cycles : 3).[0m ×2 + 54.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.388120 ms (missed cycles : 5). + 54.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.388120 ms (missed cycles : 5).[0m ×2 + 54.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 55.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 55.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771946 ms (missed cycles : 3). + 55.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771946 ms (missed cycles : 3).[0m ×2 + 56.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 56.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148970 ms (missed cycles : 4). + 56.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148970 ms (missed cycles : 4).[0m ×2 + 57.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204984 ms (missed cycles : 3). + 57.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204984 ms (missed cycles : 3).[0m ×2 + 57.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 58.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658773 ms (missed cycles : 4). + 58.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658773 ms (missed cycles : 4).[0m ×2 + 59.17sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1783697454.87459397 seconds ×3 + 59.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.331ms + 59.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078179 ms (missed cycles : 3). + 59.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078179 ms (missed cycles : 3).[0m ×2 + 59.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.617ms + 59.73sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1783697455.43301415 seconds. ×3 + 59.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.152ms + 60.11sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 60.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.879ms + 60.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186536 ms (missed cycles : 3). + 60.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186536 ms (missed cycles : 3).[0m ×2 + 60.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.112ms + 60.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.804ms + 61.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.849ms + 61.35sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 61.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.129ms + 61.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251418 ms (missed cycles : 2). + 61.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251418 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.8s | 150 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.18sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.18sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808187 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808187 ms (missed cycles : 2).[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937604 ms (missed cycles : 2). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937604 ms (missed cycles : 2).[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082540 ms (missed cycles : 3). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082540 ms (missed cycles : 3).[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.351811 ms (missed cycles : 7). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.351811 ms (missed cycles : 7).[0m ×2 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449810 ms (missed cycles : 5). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449810 ms (missed cycles : 5).[0m ×2 + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947455 ms (missed cycles : 3). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947455 ms (missed cycles : 3).[0m ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400293 ms (missed cycles : 2). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400293 ms (missed cycles : 2).[0m ×2 + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855192 ms (missed cycles : 3). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855192 ms (missed cycles : 3).[0m ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.330460 ms (missed cycles : 5). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.330460 ms (missed cycles : 5).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421116 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421116 ms (missed cycles : 2).[0m ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090683 ms (missed cycles : 4). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090683 ms (missed cycles : 4).[0m ×2 + 18.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121059 ms (missed cycles : 3). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121059 ms (missed cycles : 3).[0m ×2 + 19.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005192 ms (missed cycles : 2). + 19.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005192 ms (missed cycles : 2).[0m ×2 + 20.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004638 ms (missed cycles : 2). + 20.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004638 ms (missed cycles : 2).[0m ×2 + 20.88sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 2.461ms + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832195 ms (missed cycles : 3). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832195 ms (missed cycles : 3).[0m ×2 + 22.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011376 ms (missed cycles : 3). + 22.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011376 ms (missed cycles : 3).[0m ×2 + 23.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274858 ms (missed cycles : 3). + 23.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274858 ms (missed cycles : 3).[0m ×2 + 24.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109482 ms (missed cycles : 3). + 24.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109482 ms (missed cycles : 3).[0m ×2 + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834890 ms (missed cycles : 3). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834890 ms (missed cycles : 3).[0m ×2 + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896033 ms (missed cycles : 4). + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896033 ms (missed cycles : 4).[0m ×2 + 27.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512224 ms (missed cycles : 3). + 27.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512224 ms (missed cycles : 3).[0m ×2 + 28.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826467 ms (missed cycles : 2). + 28.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826467 ms (missed cycles : 2).[0m ×2 + 29.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435432 ms (missed cycles : 4). + 29.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435432 ms (missed cycles : 4).[0m ×2 + 30.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.223838 ms (missed cycles : 7). + 30.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.223838 ms (missed cycles : 7).[0m ×2 + 31.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085688 ms (missed cycles : 6). + 31.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085688 ms (missed cycles : 6).[0m ×2 + 32.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693846 ms (missed cycles : 2). + 32.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693846 ms (missed cycles : 2).[0m ×2 + 33.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666795 ms (missed cycles : 2). + 33.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666795 ms (missed cycles : 2).[0m ×2 + 34.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207418 ms (missed cycles : 3). + 34.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207418 ms (missed cycles : 3).[0m ×2 + 35.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180913 ms (missed cycles : 4). + 35.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180913 ms (missed cycles : 4).[0m ×2 + 37.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.568721 ms (missed cycles : 5). + 37.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.568721 ms (missed cycles : 5).[0m ×2 + 38.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906199 ms (missed cycles : 2). + 38.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906199 ms (missed cycles : 2).[0m ×2 + 39.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999756 ms (missed cycles : 4). + 39.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999756 ms (missed cycles : 4).[0m ×2 + 40.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696253 ms (missed cycles : 2). + 40.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696253 ms (missed cycles : 2).[0m ×2 + 41.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619297 ms (missed cycles : 4). + 41.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619297 ms (missed cycles : 4).[0m ×2 + 42.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818923 ms (missed cycles : 4). + 42.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818923 ms (missed cycles : 4).[0m ×2 + 43.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.652836 ms (missed cycles : 5). + 43.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.652836 ms (missed cycles : 5).[0m ×2 + 44.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630383 ms (missed cycles : 4). + 44.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630383 ms (missed cycles : 4).[0m ×2 + 45.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.802892 ms (missed cycles : 6). + 45.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.802892 ms (missed cycles : 6).[0m ×2 + 46.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.366271 ms (missed cycles : 5). + 46.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.366271 ms (missed cycles : 5).[0m ×2 + 47.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821921 ms (missed cycles : 2). + 47.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821921 ms (missed cycles : 2).[0m ×2 + 47.83sINFOjoint_trajectory_controllerGoal reached, success! + 47.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783697302.13886738 seconds ×3 + 48.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622611 ms (missed cycles : 2). + 48.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622611 ms (missed cycles : 2).[0m ×2 + 48.45sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783697302.70240617 seconds. ×3 + 49.38sINFOobjective_server_nodeFound path in 0 iterations (3.2491e-05 s). ×2 + 49.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976500 ms (missed cycles : 3). + 49.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976500 ms (missed cycles : 3).[0m ×2 + 50.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427891 ms (missed cycles : 4). + 50.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427891 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.8s | 108 warnings · 123 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.492ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825257 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825257 ms (missed cycles : 5).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.664ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099203 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099203 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323590 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323590 ms (missed cycles : 5).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.32sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.34sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1783697367.77947807 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350750 ms (missed cycles : 5). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350750 ms (missed cycles : 5).[0m ×2 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.913ms + 3.89sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1783697369.33507347 seconds. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504949 ms (missed cycles : 6). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504949 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.104861 ms (missed cycles : 7). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.104861 ms (missed cycles : 7).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.75sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.75sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025080 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025080 ms (missed cycles : 2).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665371 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665371 ms (missed cycles : 3).[0m ×2 + 7.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.244ms + 8.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.301ms + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.810617 ms (missed cycles : 7). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.810617 ms (missed cycles : 7).[0m ×2 + 8.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.212ms + 9.01sINFOros2_control_nodeMuJoCo sim: 0.85% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.830ms + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090956 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090956 ms (missed cycles : 3).[0m ×2 + 9.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.525ms + 10.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.654ms + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882570 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882570 ms (missed cycles : 3).[0m ×2 + 10.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.115ms + 11.31sINFOamclParticle filter update iteration stats: 4973 particles 723 points - 5.322ms + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424388 ms (missed cycles : 3). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424388 ms (missed cycles : 3).[0m ×2 + 11.81sINFOamclParticle filter update iteration stats: 3918 particles 723 points - 5.079ms + 12.31sINFOamclParticle filter update iteration stats: 2972 particles 723 points - 3.591ms + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020159 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020159 ms (missed cycles : 2).[0m ×2 + 12.79sINFOamclParticle filter update iteration stats: 2030 particles 723 points - 2.651ms + 13.30sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 2.345ms + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720878 ms (missed cycles : 3). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720878 ms (missed cycles : 3).[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 1.319ms + 14.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319717 ms (missed cycles : 4). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319717 ms (missed cycles : 4).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.186ms + 15.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620789 ms (missed cycles : 3). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620789 ms (missed cycles : 3).[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411076 ms (missed cycles : 3). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411076 ms (missed cycles : 3).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.139ms + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.059ms + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505897 ms (missed cycles : 2). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505897 ms (missed cycles : 2).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 18.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.402597 ms (missed cycles : 5). + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.402597 ms (missed cycles : 5).[0m ×2 + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.423472 ms (missed cycles : 5). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.423472 ms (missed cycles : 5).[0m ×2 + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms + 20.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462799 ms (missed cycles : 5). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462799 ms (missed cycles : 5).[0m ×2 + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.126ms + 21.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746884 ms (missed cycles : 2). + 21.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746884 ms (missed cycles : 2).[0m ×2 + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.826ms + 22.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.569ms + 23.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.088657 ms (missed cycles : 6). + 23.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.088657 ms (missed cycles : 6).[0m ×2 + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms ×2 + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126280 ms (missed cycles : 3). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126280 ms (missed cycles : 3).[0m ×2 + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 25.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076596 ms (missed cycles : 2). + 25.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076596 ms (missed cycles : 2).[0m ×2 + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 25.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 26.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161611 ms (missed cycles : 3). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161611 ms (missed cycles : 3).[0m ×2 + 26.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.786ms + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 27.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.117099 ms (missed cycles : 6). + 27.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.117099 ms (missed cycles : 6).[0m ×2 + 27.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms ×2 + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 28.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972444 ms (missed cycles : 2). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972444 ms (missed cycles : 2).[0m ×2 + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 28.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 29.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423318 ms (missed cycles : 3). + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423318 ms (missed cycles : 3).[0m ×2 + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 30.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392423 ms (missed cycles : 2). + 30.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392423 ms (missed cycles : 2).[0m ×2 + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.745ms + 31.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396205 ms (missed cycles : 2). + 31.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396205 ms (missed cycles : 2).[0m ×2 + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.086ms + 32.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815653 ms (missed cycles : 3). + 32.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815653 ms (missed cycles : 3).[0m ×2 + 32.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 33.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms + 33.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698738 ms (missed cycles : 4). + 33.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698738 ms (missed cycles : 4).[0m ×2 + 34.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783697399.59524250 seconds ×3 + 34.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.560ms + 34.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.431ms + 34.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107773 ms (missed cycles : 2). + 34.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107773 ms (missed cycles : 2).[0m ×2 + 34.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.315ms + 34.72sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783697400.16443539 seconds. ×3 + 35.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.760ms + 35.06sINFOobjective_server_nodeFound path in 0 iterations (9.7e-07 s). ×2 + 35.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.296ms + 35.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854408 ms (missed cycles : 2). + 35.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854408 ms (missed cycles : 2).[0m ×2 + 35.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.143ms + 35.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.249ms + 36.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.713ms + 36.33sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310710 ms (missed cycles : 2). + 36.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310710 ms (missed cycles : 2).[0m ×2 + 37.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.1s | 57 warnings · 132 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520970 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520970 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502952 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502952 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.621691 ms (missed cycles : 7). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.621691 ms (missed cycles : 7).[0m ×2 + 2.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774820 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774820 ms (missed cycles : 4).[0m ×2 + 3.71sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.71sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1783697591.41673899 seconds ×3 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.242ms + 3.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.591ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702016 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702016 ms (missed cycles : 2).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.094ms + 4.31sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1783697591.98642731 seconds. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.254ms + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.68sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.68sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.68sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.68sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954274 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954274 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794585 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794585 ms (missed cycles : 4).[0m ×2 + 6.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503968 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503968 ms (missed cycles : 2).[0m ×2 + 7.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.074ms + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.296143 ms (missed cycles : 5). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.296143 ms (missed cycles : 5).[0m ×2 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 8.92sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.95sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 8.98sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.01sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 9.06sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.10sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 9.24sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.28sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130562 ms (missed cycles : 5). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130562 ms (missed cycles : 5).[0m ×2 + 9.53sINFOobjective_server_nodeFound path in 69 iterations (0.0509138 s). ×2 + 9.72sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.78sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 10.20sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.24sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681296 ms (missed cycles : 4). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681296 ms (missed cycles : 4).[0m ×2 + 10.55sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.80sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198133 ms (missed cycles : 3). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198133 ms (missed cycles : 3).[0m ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307763 ms (missed cycles : 2). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307763 ms (missed cycles : 2).[0m ×2 + 12.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 13.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.271ms + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646313 ms (missed cycles : 4). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646313 ms (missed cycles : 4).[0m ×2 + 13.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.800ms + 14.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.442ms + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074760 ms (missed cycles : 2). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074760 ms (missed cycles : 2).[0m ×2 + 14.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.353ms + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767335 ms (missed cycles : 5). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767335 ms (missed cycles : 5).[0m ×2 + 15.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.450ms + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199932 ms (missed cycles : 3). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199932 ms (missed cycles : 3).[0m ×2 + 16.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1783697604.48105788 seconds ×3 + 16.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.547ms + 17.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.033ms + 17.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1783697605.08378720 seconds. ×3 + 17.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.42sINFOmove_groupClearing octomap...[0m ×2 + 17.42sINFOmove_groupOctomap cleared.[0m ×2 + 17.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.891ms + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842666 ms (missed cycles : 4). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842666 ms (missed cycles : 4).[0m ×2 + 17.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.738ms + 18.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.367ms + 18.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1783697606.33391166 seconds ×3 + 18.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346767 ms (missed cycles : 3). + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346767 ms (missed cycles : 3).[0m ×2 + 18.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.458ms + 19.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.527ms + 19.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1783697606.88875389 seconds. ×3 + 19.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.409ms + 19.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1783697607.29891968 seconds ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.2s | 83 errors · 33 warnings · 412 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074760 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074760 ms (missed cycles : 2).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.353ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767335 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767335 ms (missed cycles : 5).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.450ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199932 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199932 ms (missed cycles : 3).[0m ×2 + 2.20sINFOjoint_trajectory_controllerGoal reached, success! + 2.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.23sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1783697604.48105788 seconds ×3 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.547ms + 2.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.033ms + 2.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1783697605.08378720 seconds. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.891ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842666 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842666 ms (missed cycles : 4).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.738ms + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.367ms + 4.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1783697606.33391166 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346767 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346767 ms (missed cycles : 3).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.458ms + 4.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.527ms + 4.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1783697606.88875389 seconds. ×3 + 4.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.409ms + 5.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1783697607.29891968 seconds ×3 + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.543ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.132598 ms (missed cycles : 6). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.132598 ms (missed cycles : 6).[0m ×2 + 5.28sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.430ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.387ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186056 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186056 ms (missed cycles : 3).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550161 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550161 ms (missed cycles : 2).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269977 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269977 ms (missed cycles : 2).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474708 ms (missed cycles : 4). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474708 ms (missed cycles : 4).[0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732015 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732015 ms (missed cycles : 2).[0m ×2 + 11.05sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 11.09sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 11.11sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 11.18sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 11.20sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 11.22sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.24sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.25sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 11.27sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 11.29sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 11.31sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 11.32sERRORcomponent_container_mt-25process has died [pid 9397, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_mt --ros-args --log-level info --ros-args -r __node:=moveit_studio_container -r __ns:=/']. ×2 + 11.33sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 11.34sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 11.36sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 11.39sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 11.39sINFOcontroller_managerShutdown request received.... + 11.39sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.39sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.39sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.39sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.39sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.39sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.39sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.39sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.39sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.39sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.39sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.39sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.39sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.39sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.39sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.39sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.39sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.40sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.40sINFOcontroller_managerShutting down the controller manager. + 11.41sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.43sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 11.43sERRORmove_group-19process has died [pid 9332, 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_tb7wzej1 --params-file /tmp/launch_params_k70fadzm --params-file /tmp/launch_params_uyh7wxko --params-file /tmp/launch_params_ebvonl_6 --params-file /tmp/launch_params_kt6jflt6 --params-file /tmp/launch_params_up4gc9_d --params-file /tmp/launch_params_jlfl3kj9 --params-file /tmp/launch_params_rbappkz2 --params-file /tmp/launch_params_oi0ijpjl']. ×2 + 11.45sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 11.46sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.48sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.50sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.50sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.50sINFOcontroller_serverCleaning up + 11.50sINFOlocal_costmap.local_costmapCleaning up + 11.50sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.50sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.50sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.50sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.50sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.50sINFOui_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 + 11.50sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.50sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.50sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.50sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.50sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.50sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.50sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.50sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.50sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.51sINFOcomponent_container_mt ×10 + 11.51sINFOcomponent_container_mt>>> [rcutils|error_handling.c:108] rcutils_set_error_state() ×2 + 11.51sINFOcomponent_container_mtThis error state is being overwritten: ×2 + 11.51sINFOcomponent_container_mt'rcl node's context is invalid, at ./src/rcl/node.c:404' ×2 + 11.51sINFOcomponent_container_mtwith this new error message: ×2 + 11.51sINFOcomponent_container_mt'the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130' ×2 + 11.51sINFOcomponent_container_mtrcutils_reset_error() should be called after error handling to avoid this. ×2 + 11.51sINFOcomponent_container_mt<<< ×2 + 11.51sERRORcomponent_container_mtterminate called after throwing an instance of 'rclcpp::exceptions::RCLError' ×2 + 11.51sERRORcomponent_container_mtwhat(): failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 11.51sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.51sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.51sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.51sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.51sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.51sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.51sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.51sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.51sERRORmove_groupStack trace (most recent call last) in thread 9925: ×2 + 11.51sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.51sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fed61705a63, in __clone ×2 + 11.51sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fed61678aa3, in ×2 + 11.51sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fed6190adb3, in ×2 + 11.51sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fed61f5f1c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.51sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fed61c7d4d0, in rclcpp::Rate::sleep() ×2 + 11.51sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fed61bd0a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.51sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fed61b95a71, in ×2 + 11.51sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fed618d9390, in __cxa_throw ×2 + 11.51sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fed618c3a54, in std::terminate() ×2 + 11.51sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fed618d90d9, in ×2 + 11.51sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fed618c3ff4, in ×2 + 11.51sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fed616048fe, in abort ×2 + 11.52sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fed6162127d, in raise ×2 + 11.52sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fed6167ab2c, in pthread_kill ×2 + 11.52sERRORmove_groupAborted (Signal sent by tkill() 9332 0) ×2 + 11.52sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.52sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.52sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.52sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.52sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.52sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.52sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.52sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.52sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.52sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.52sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.52sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.52sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.52sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.52sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.52sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.52sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.52sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.52sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.52sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.52sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.52sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.52sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.52sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.52sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.52sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.52sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.52sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.52sINFOodom_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 + 11.52sINFOodom_qos_relay.pymain() ×2 + 11.52sINFOodom_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 + 11.52sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.52sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.52sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.52sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.52sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.52sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.52sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.52sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.52sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.52sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.52sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.52sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.52sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.52sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.52sINFOobjective_server_node[2026-07-10 15:33:33.706] [moveit_pro_license] [info] ×2 + 11.52sINFOobjective_server_node************************************************* ×4 + 11.52sINFOobjective_server_node* MoveIt Pro License ×2 + 11.52sINFOobjective_server_node* Application has successfully terminated ×2 + 11.52sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.53sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.53sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.53sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e94e3296a4, in _start ×2 + 11.53sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3b3c0c728a, in __libc_start_main ×2 + 11.53sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3b3c0c71d0, in ×2 + 11.53sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3b3c0e4bbd, in exit ×2 + 11.53sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3b3c0e4a75, in ×2 + 11.53sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f3b3c5b38f5, in spdlog::details::registry::~registry() ×2 + 11.53sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e94e329d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.53sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e94e330315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.53sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e94e32f5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.53sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e94e32bb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.53sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e94e329d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.53sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3b3cc69454, in rclcpp::Node::~Node() ×2 + 11.53sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3b3cc24515, in ×2 + 11.53sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3b3cc67d20, in ×2 + 11.53sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3b3cc67c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.53sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3b3cc245d9, in ×2 + 11.53sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3b3cc29161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.53sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f3aeb4a8720]) ×2 + 11.54sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.54sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.54sINFOmap_serverDeactivating + 11.54sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.56sINFOmap_serverCleaning up + 11.56sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.56sINFOsmoother_serverCleaning up + 11.57sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.57sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.57sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.57sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.57sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.59sERRORamclThe bond connection to the lifecycle manager has been broken + 11.60sERRORobjective_server_node_main-24process has died [pid 9396, 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_e7fckfdf --params-file /tmp/launch_params_yx704uz9 --params-file /tmp/launch_params_e01_4pxd --params-file /tmp/launch_params_1q29hhap --params-file /tmp/launch_params_v5chivtj --params-file /tmp/launch_params_5rkbvrxf --params-file /tmp/launch_params_0do8ceqh --params-file /tmp/launch_params_bzkzw71_ --params-file /tmp/launch_params_r7qx90gr']. ×2 + 11.60sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 11.60sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.60sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.60sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.60sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.60sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.60sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.60sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.60sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.60sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.60sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.61sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.61sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.61sINFOros2_control_nodepublish_async_failures_ 8[0m ×2 + 12.12sINFOweb_video_server-31process has finished cleanly [pid 9407] ×2 + 12.15sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9406] ×2 + 12.15sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 12.23sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 12.32sERRORui_teleop_bridge-28process has died [pid 9400, 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_bv525tgm']. ×2 + 12.32sINFOexecute_objective_bridge-27process has finished cleanly [pid 9399] ×2 + 12.34sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9395] ×2 + 12.35sINFOcomponent_container_mt-26process has finished cleanly [pid 9398] ×2 + 12.36sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9335] ×2 + 12.41sINFOparameter_manager_node-20process has finished cleanly [pid 9333] ×2 + 12.43sINFOwaypoint_manager_node-21process has finished cleanly [pid 9334] ×2 + 12.45sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9253] ×2 + 12.48sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9252] ×2 + 12.50sINFOstatic_transform_publisher-3process has finished cleanly [pid 9250] ×2 + 12.52sINFOstatic_transform_publisher-2process has finished cleanly [pid 9249] ×2 + 12.55sERRORodom_qos_relay.py-4process has died [pid 9251, 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 + 13.04sERRORcomponent_container_isolated-1process has died [pid 9248, 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_1cwpo2h5 --params-file /tmp/launch_params_4l07o0u2 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.83sINFOweb_bridge-29process has finished cleanly [pid 9401] ×2 + 13.83sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 14.20sINFOros2_control_node-7process has finished cleanly [pid 9254] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.6s | 3 errors · 51 warnings · 93 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771946 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771946 ms (missed cycles : 3).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148970 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148970 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204984 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204984 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658773 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658773 ms (missed cycles : 4).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.94sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1783697454.87459397 seconds ×3 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.331ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078179 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078179 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.617ms + 4.50sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1783697455.43301415 seconds. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.152ms + 4.88sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 5.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.879ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186536 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186536 ms (missed cycles : 3).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.112ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.804ms + 5.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.849ms + 6.12sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.129ms + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251418 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251418 ms (missed cycles : 2).[0m ×2 + 6.35sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.35sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.36sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.196ms + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113870 ms (missed cycles : 4). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113870 ms (missed cycles : 4).[0m ×2 + 7.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.606ms + 7.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.181ms + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153146 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153146 ms (missed cycles : 2).[0m ×2 + 9.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.834ms + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711997 ms (missed cycles : 5). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711997 ms (missed cycles : 5).[0m ×2 + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.268ms + 10.31sINFOamclParticle filter update iteration stats: 4218 particles 723 points - 6.216ms + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381303 ms (missed cycles : 5). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381303 ms (missed cycles : 5).[0m ×2 + 10.92sINFOamclParticle filter update iteration stats: 3534 particles 723 points - 4.899ms + 11.40sINFOamclParticle filter update iteration stats: 3024 particles 723 points - 3.389ms + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718795 ms (missed cycles : 3). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718795 ms (missed cycles : 3).[0m ×2 + 11.91sINFOamclParticle filter update iteration stats: 2815 particles 723 points - 3.057ms + 12.41sINFOamclParticle filter update iteration stats: 2397 particles 723 points - 2.745ms + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013726 ms (missed cycles : 2). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013726 ms (missed cycles : 2).[0m ×2 + 12.89sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 2.318ms + 13.41sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 2.808ms + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065605 ms (missed cycles : 3). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065605 ms (missed cycles : 3).[0m ×2 + 13.91sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.528ms + 14.41sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 2.114ms + 14.55sINFOjoint_trajectory_controllerGot request to cancel goal + 14.55sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.55sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.55sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1783697465.49336457 seconds ×3 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.707720 ms (missed cycles : 4). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.707720 ms (missed cycles : 4).[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.670ms + 14.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.850ms + 15.11sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1783697466.05052280 seconds. ×3 + 15.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.723ms + 15.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.202ms + 15.48sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673881 ms (missed cycles : 4). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673881 ms (missed cycles : 4).[0m ×2 + 15.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.936ms + 16.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.806ms + 16.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.860ms + 16.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.867ms + 16.74sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010186 ms (missed cycles : 2). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010186 ms (missed cycles : 2).[0m ×2 + 16.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.974ms + 17.22sINFOamclParticle filter update iteration stats: 4290 particles 723 points - 5.964ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.9s | 36 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036611 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036611 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539937 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539937 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253825 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253825 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887736 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887736 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.39sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783697362.86035347 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.532ms + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096666 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096666 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783697363.52931738 seconds. ×3 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.081ms + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.150ms + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.51sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.51sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554511 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554511 ms (missed cycles : 5).[0m ×2 + 6.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.492ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825257 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825257 ms (missed cycles : 5).[0m ×2 + 7.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.664ms + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099203 ms (missed cycles : 2). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099203 ms (missed cycles : 2).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323590 ms (missed cycles : 5). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323590 ms (missed cycles : 5).[0m ×2 + 8.37sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1783697367.77947807 seconds ×3 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350750 ms (missed cycles : 5). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350750 ms (missed cycles : 5).[0m ×2 + 9.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.913ms + 9.93sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1783697369.33507347 seconds. ×3 + 10.29sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504949 ms (missed cycles : 6). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504949 ms (missed cycles : 6).[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.104861 ms (missed cycles : 7). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.104861 ms (missed cycles : 7).[0m ×2 + 11.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 30 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630383 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630383 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.802892 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.802892 ms (missed cycles : 6).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.366271 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.366271 ms (missed cycles : 5).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821921 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821921 ms (missed cycles : 2).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.57sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783697302.13886738 seconds ×3 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622611 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622611 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783697302.70240617 seconds. ×3 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (3.2491e-05 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.15sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.15sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.15sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976500 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976500 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427891 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427891 ms (missed cycles : 4).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662240 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662240 ms (missed cycles : 3).[0m ×2 + 7.26sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1783697305.77257347 seconds ×3 + 7.82sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1783697306.33022046 seconds. ×3 + 8.18sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275685 ms (missed cycles : 2). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275685 ms (missed cycles : 2).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851237 ms (missed cycles : 3). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851237 ms (missed cycles : 3).[0m ×2 + 9.79sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.9s | 24 warnings · 48 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.271ms + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646313 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646313 ms (missed cycles : 4).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.800ms + 1.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.442ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074760 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074760 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.353ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767335 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767335 ms (missed cycles : 5).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.450ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199932 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199932 ms (missed cycles : 3).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.52sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1783697604.48105788 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.547ms + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.033ms + 4.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1783697605.08378720 seconds. ×3 + 4.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.14sINFOmove_groupClearing octomap...[0m ×2 + 4.14sINFOmove_groupOctomap cleared.[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.891ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842666 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842666 ms (missed cycles : 4).[0m ×2 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.738ms + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.367ms + 5.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1783697606.33391166 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346767 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346767 ms (missed cycles : 3).[0m ×2 + 5.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.458ms + 5.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.527ms + 5.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1783697606.88875389 seconds. ×3 + 6.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.409ms + 6.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1783697607.29891968 seconds ×3 + 6.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.543ms + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.132598 ms (missed cycles : 6). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.132598 ms (missed cycles : 6).[0m ×2 + 6.57sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.430ms + 7.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.387ms + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186056 ms (missed cycles : 3). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186056 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630383 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630383 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.802892 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.802892 ms (missed cycles : 6).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.366271 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.366271 ms (missed cycles : 5).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821921 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821921 ms (missed cycles : 2).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783697302.13886738 seconds ×3 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622611 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622611 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783697302.70240617 seconds. ×3 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (3.2491e-05 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976500 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976500 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427891 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427891 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630383 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630383 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.802892 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.802892 ms (missed cycles : 6).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.366271 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.366271 ms (missed cycles : 5).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821921 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821921 ms (missed cycles : 2).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783697302.13886738 seconds ×3 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622611 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622611 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783697302.70240617 seconds. ×3 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (3.2491e-05 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976500 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976500 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427891 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427891 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392423 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392423 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.745ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396205 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396205 ms (missed cycles : 2).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 1.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.086ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815653 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815653 ms (missed cycles : 3).[0m ×2 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 3.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698738 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698738 ms (missed cycles : 4).[0m ×2 + 3.84sINFOjoint_trajectory_controllerGoal reached, success! + 3.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783697399.59524250 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.560ms + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.431ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107773 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107773 ms (missed cycles : 2).[0m ×2 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.315ms + 4.46sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783697400.16443539 seconds. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.760ms + 4.80sINFOobjective_server_nodeFound path in 0 iterations (9.7e-07 s). ×2 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.296ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854408 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854408 ms (missed cycles : 2).[0m ×2 + 5.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.143ms + 5.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.249ms + 5.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.713ms + 6.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310710 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310710 ms (missed cycles : 2).[0m ×2 + 6.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3).[0m ×2 + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2).[0m ×2 + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2).[0m ×2 + 4.08sINFOjoint_trajectory_controllerGoal reached, success! + 4.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783697535.83076072 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 2.140ms + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.679ms + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.657ms + 4.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783697536.40532327 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 5.07sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3).[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.495ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.661ms + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.431ms + 6.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.437ms + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.65sINFOjoint_trajectory_controllerReceived new action goal + 6.65sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.464ms | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3).[0m ×2 + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2).[0m ×2 + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2).[0m ×2 + 4.08sINFOjoint_trajectory_controllerGoal reached, success! + 4.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783697535.83076072 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 2.140ms + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.679ms + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.657ms + 4.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783697536.40532327 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 5.07sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3).[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.495ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.661ms + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.431ms + 6.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.437ms + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.65sINFOjoint_trajectory_controllerReceived new action goal + 6.65sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.464ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 2.22sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[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 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 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: 1783697256.24807453 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 6.09sINFOobjective_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 + 6.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 6.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 6.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 6.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 58 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783697302.13886738 seconds ×3 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622611 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622611 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783697302.70240617 seconds. ×3 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (3.2491e-05 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.58sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.58sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.58sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976500 ms (missed cycles : 3). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976500 ms (missed cycles : 3).[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427891 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427891 ms (missed cycles : 4).[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662240 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662240 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1783697305.77257347 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1783697306.33022046 seconds. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275685 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275685 ms (missed cycles : 2).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851237 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851237 ms (missed cycles : 3).[0m ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036611 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036611 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539937 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539937 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253825 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253825 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887736 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887736 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783697362.86035347 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.532ms + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096666 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096666 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783697363.52931738 seconds. ×3 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.081ms + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.150ms + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.51sINFOjoint_trajectory_controllerAccepted new action goal + 4.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554511 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554511 ms (missed cycles : 5).[0m ×2 + 6.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.492ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825257 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825257 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036611 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036611 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539937 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539937 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253825 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253825 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887736 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887736 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783697362.86035347 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.532ms + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096666 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096666 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783697363.52931738 seconds. ×3 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.081ms + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.150ms + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.51sINFOjoint_trajectory_controllerAccepted new action goal + 4.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554511 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554511 ms (missed cycles : 5).[0m ×2 + 6.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.492ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825257 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825257 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036611 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036611 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539937 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539937 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253825 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253825 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887736 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887736 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783697362.86035347 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.532ms + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096666 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096666 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783697363.52931738 seconds. ×3 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.081ms + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.150ms + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.51sINFOjoint_trajectory_controllerAccepted new action goal + 4.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554511 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554511 ms (missed cycles : 5).[0m ×2 + 6.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.492ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825257 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825257 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036611 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036611 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539937 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539937 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253825 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253825 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887736 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887736 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783697362.86035347 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.532ms + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096666 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096666 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783697363.52931738 seconds. ×3 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.081ms + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.150ms + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.51sINFOjoint_trajectory_controllerAccepted new action goal + 4.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554511 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554511 ms (missed cycles : 5).[0m ×2 + 6.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.492ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825257 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825257 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036611 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036611 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539937 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539937 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253825 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253825 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887736 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887736 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783697362.86035347 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.532ms + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096666 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096666 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783697363.52931738 seconds. ×3 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.081ms + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.150ms + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.51sINFOjoint_trajectory_controllerAccepted new action goal + 4.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554511 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554511 ms (missed cycles : 5).[0m ×2 + 6.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.492ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825257 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825257 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392423 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392423 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.745ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396205 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396205 ms (missed cycles : 2).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 1.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.086ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815653 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815653 ms (missed cycles : 3).[0m ×2 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 3.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698738 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698738 ms (missed cycles : 4).[0m ×2 + 3.84sINFOjoint_trajectory_controllerGoal reached, success! + 3.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783697399.59524250 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.560ms + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.431ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107773 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107773 ms (missed cycles : 2).[0m ×2 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.315ms + 4.46sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783697400.16443539 seconds. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.760ms + 4.80sINFOobjective_server_nodeFound path in 0 iterations (9.7e-07 s). ×2 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.296ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854408 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854408 ms (missed cycles : 2).[0m ×2 + 5.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.143ms + 5.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.249ms + 5.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.713ms + 6.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310710 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310710 ms (missed cycles : 2).[0m ×2 + 6.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392423 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392423 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.745ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396205 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396205 ms (missed cycles : 2).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 1.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.086ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815653 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815653 ms (missed cycles : 3).[0m ×2 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 3.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698738 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698738 ms (missed cycles : 4).[0m ×2 + 3.84sINFOjoint_trajectory_controllerGoal reached, success! + 3.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783697399.59524250 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.560ms + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.431ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107773 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107773 ms (missed cycles : 2).[0m ×2 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.315ms + 4.46sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783697400.16443539 seconds. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.760ms + 4.80sINFOobjective_server_nodeFound path in 0 iterations (9.7e-07 s). ×2 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.296ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854408 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854408 ms (missed cycles : 2).[0m ×2 + 5.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.143ms + 5.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.249ms + 5.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.713ms + 6.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310710 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310710 ms (missed cycles : 2).[0m ×2 + 6.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 2.22sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[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 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 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: 1783697256.24807453 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 6.09sINFOobjective_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 + 6.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 6.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 6.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 6.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3).[0m ×2 + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2).[0m ×2 + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2).[0m ×2 + 4.08sINFOjoint_trajectory_controllerGoal reached, success! + 4.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783697535.83076072 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 2.140ms + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.679ms + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.657ms + 4.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783697536.40532327 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 5.07sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3).[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.495ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.661ms + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.431ms + 6.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.437ms + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.65sINFOjoint_trajectory_controllerReceived new action goal + 6.65sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.464ms | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3).[0m ×2 + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2).[0m ×2 + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2).[0m ×2 + 4.08sINFOjoint_trajectory_controllerGoal reached, success! + 4.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783697535.83076072 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 2.140ms + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.679ms + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.657ms + 4.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783697536.40532327 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 5.07sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3).[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.495ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.661ms + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.431ms + 6.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.437ms + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.65sINFOjoint_trajectory_controllerReceived new action goal + 6.65sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.464ms | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 2.22sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[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 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 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: 1783697256.24807453 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 6.09sINFOobjective_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 + 6.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 6.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 6.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 6.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3).[0m ×2 + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2).[0m ×2 + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2).[0m ×2 + 4.08sINFOjoint_trajectory_controllerGoal reached, success! + 4.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783697535.83076072 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 2.140ms + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.679ms + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.657ms + 4.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783697536.40532327 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 5.07sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3).[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.495ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.661ms + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.431ms + 6.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.437ms + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.65sINFOjoint_trajectory_controllerReceived new action goal + 6.65sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.464ms | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3).[0m ×2 + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2).[0m ×2 + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2).[0m ×2 + 4.08sINFOjoint_trajectory_controllerGoal reached, success! + 4.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783697535.83076072 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 2.140ms + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.679ms + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.657ms + 4.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783697536.40532327 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 5.07sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3).[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.495ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.661ms + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.431ms + 6.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.437ms + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.65sINFOjoint_trajectory_controllerReceived new action goal + 6.65sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.464ms | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3).[0m ×2 + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2).[0m ×2 + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2).[0m ×2 + 4.08sINFOjoint_trajectory_controllerGoal reached, success! + 4.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783697535.83076072 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 2.140ms + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.679ms + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.657ms + 4.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783697536.40532327 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 5.07sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3).[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.495ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.661ms + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.431ms + 6.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.437ms + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.65sINFOjoint_trajectory_controllerReceived new action goal + 6.65sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.464ms | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320321 ms (missed cycles : 3).[0m ×2 + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.776ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889813 ms (missed cycles : 2).[0m ×2 + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004642 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212458 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587328 ms (missed cycles : 2).[0m ×2 + 4.08sINFOjoint_trajectory_controllerGoal reached, success! + 4.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783697535.83076072 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 2.140ms + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.679ms + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.657ms + 4.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783697536.40532327 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 5.07sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707128 ms (missed cycles : 3).[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.495ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.755ms + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.661ms + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589476 ms (missed cycles : 5).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.431ms + 6.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.437ms + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.65sINFOjoint_trajectory_controllerReceived new action goal + 6.65sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.464ms | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.271ms + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646313 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646313 ms (missed cycles : 4).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.800ms + 1.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.442ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074760 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074760 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.353ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767335 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767335 ms (missed cycles : 5).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.450ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199932 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199932 ms (missed cycles : 3).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.52sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1783697604.48105788 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.547ms + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.033ms + 4.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1783697605.08378720 seconds. ×3 + 4.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.14sINFOmove_groupClearing octomap...[0m ×2 + 4.14sINFOmove_groupOctomap cleared.[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.891ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842666 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842666 ms (missed cycles : 4).[0m ×2 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.738ms + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.367ms + 5.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1783697606.33391166 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346767 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346767 ms (missed cycles : 3).[0m ×2 + 5.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.458ms + 5.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.527ms + 5.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1783697606.88875389 seconds. ×3 + 6.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.409ms + 6.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1783697607.29891968 seconds ×3 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 1.21sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 3.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.01sINFOmove_groupClearing octomap...[0m ×2 + 3.01sINFOmove_groupOctomap cleared.[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 5.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 5.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 6.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 2.22sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[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 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 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: 1783697256.24807453 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 6.09sINFOobjective_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 + 6.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 6.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 6.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 6.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 24 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 2.22sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[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 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 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: 1783697256.24807453 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 6.09sINFOobjective_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 + 6.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 6.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 6.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 6.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 2.22sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[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 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 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: 1783697256.24807453 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 6.09sINFOobjective_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 + 6.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 6.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 2.22sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[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 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 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: 1783697256.24807453 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 6.09sINFOobjective_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 + 6.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 6.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 6.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 6.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 2.22sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[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 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 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: 1783697256.24807453 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 6.09sINFOobjective_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 + 6.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 6.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 6.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 6.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475824 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 2.22sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[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 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 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: 1783697256.24807453 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 6.09sINFOobjective_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 + 6.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 6.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 6.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 6.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749221 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 1.21sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 3.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.01sINFOmove_groupClearing octomap...[0m ×2 + 3.01sINFOmove_groupOctomap cleared.[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 5.12sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 5.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.8s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal + 6.18sINFOjoint_trajectory_controllerAccepted new action goal + 6.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585618 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766378 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783697256.23784590 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783697256.24807453 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865280 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783697256.80543375 seconds. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783697256.81570959 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518090 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783697257.37079597 seconds. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783697257.52135229 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783697258.10578966 seconds. ×3 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3). + 4.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470709 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783697258.36596465 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783697258.92560983 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983129 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776096 ms (missed cycles : 2).[0m ×2 | ||||