68
Total objective tests
16
Objectives passed
0
Objectives failed
52
Objectives skipped
23.7s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass25 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 70.4s | 3 errors · 222 warnings · 256 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.980ms + 0.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.160ms ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114688 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114688 ms (missed cycles : 2).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.836ms + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.267ms + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.401ms + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661961 ms (missed cycles : 6). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661961 ms (missed cycles : 6).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.722ms + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.892ms + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440736 ms (missed cycles : 4). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440736 ms (missed cycles : 4).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.810ms + 2.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.621ms + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.492ms + 3.49sINFOjoint_trajectory_controllerGot request to cancel goal + 3.49sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.49sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.49sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1783656782.16046071 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 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580240 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580240 ms (missed cycles : 3).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.526ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.238ms + 4.08sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1783656782.71011949 seconds. ×3 + 4.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.725ms + 4.37sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.106ms + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024387 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024387 ms (missed cycles : 3).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.087ms ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.705ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.148ms + 5.34sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.39sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.39sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.39sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439365 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439365 ms (missed cycles : 2).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.293ms + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.906ms + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493362 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493362 ms (missed cycles : 3).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243706 ms (missed cycles : 4). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243706 ms (missed cycles : 4).[0m ×2 + 8.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.119ms + 8.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.515ms + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103160 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103160 ms (missed cycles : 2).[0m ×2 + 9.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.400ms + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.469ms + 9.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.820ms + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.948ms + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165989 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165989 ms (missed cycles : 2).[0m ×2 + 10.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.411ms + 10.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.177ms + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348341 ms (missed cycles : 5). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348341 ms (missed cycles : 5).[0m ×2 + 11.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.485ms + 11.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.445ms + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852385 ms (missed cycles : 2). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852385 ms (missed cycles : 2).[0m ×2 + 12.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.280ms + 12.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.656ms + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489173 ms (missed cycles : 3). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489173 ms (missed cycles : 3).[0m ×2 + 13.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.388ms + 13.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.175ms + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530693 ms (missed cycles : 2). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530693 ms (missed cycles : 2).[0m ×2 + 14.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.267ms + 14.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.006ms + 15.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.063ms + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.119242 ms (missed cycles : 4). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.119242 ms (missed cycles : 4).[0m ×2 + 15.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.323ms + 15.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.249ms + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781739 ms (missed cycles : 2). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781739 ms (missed cycles : 2).[0m ×2 + 16.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.344ms + 16.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.649ms + 17.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.577ms + 17.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.297ms + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.273453 ms (missed cycles : 5). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.273453 ms (missed cycles : 5).[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.697ms + 17.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.187ms + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024308 ms (missed cycles : 4). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024308 ms (missed cycles : 4).[0m ×2 + 18.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.641ms + 18.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.309ms + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.605139 ms (missed cycles : 5). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.605139 ms (missed cycles : 5).[0m ×2 + 19.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.030ms + 19.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.768ms + 19.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.394ms + 20.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.551ms + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295151 ms (missed cycles : 2). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295151 ms (missed cycles : 2).[0m ×2 + 20.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.602ms + 21.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.414ms + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537077 ms (missed cycles : 4). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537077 ms (missed cycles : 4).[0m ×2 + 21.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.283ms + 22.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.488ms + 22.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.946ms + 22.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854239 ms (missed cycles : 5). + 22.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854239 ms (missed cycles : 5).[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.825ms + 23.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.388ms + 23.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.883ms + 23.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071306 ms (missed cycles : 2). + 23.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071306 ms (missed cycles : 2).[0m ×2 + 24.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.506ms + 24.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.432ms + 24.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222231 ms (missed cycles : 2). + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222231 ms (missed cycles : 2).[0m ×2 + 24.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.603ms + 24.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.565ms + 25.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.110ms + 25.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.243ms + 25.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.685568 ms (missed cycles : 5). + 25.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.685568 ms (missed cycles : 5).[0m ×2 + 26.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.020ms + 26.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.540ms + 26.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944720 ms (missed cycles : 3). + 26.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944720 ms (missed cycles : 3).[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.442ms + 27.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.113ms + 27.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.656ms + 27.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.542ms + 27.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957320 ms (missed cycles : 2). + 27.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957320 ms (missed cycles : 2).[0m ×2 + 28.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.382ms + 28.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.879ms + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091550 ms (missed cycles : 2). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091550 ms (missed cycles : 2).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.259ms + 29.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.413ms + 29.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.072ms + 29.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.106ms + 29.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905300 ms (missed cycles : 2). + 29.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905300 ms (missed cycles : 2).[0m ×2 + 30.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.782ms + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805070 ms (missed cycles : 2). + 30.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805070 ms (missed cycles : 2).[0m ×2 + 30.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.709ms + 31.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.120ms + 31.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973830 ms (missed cycles : 2). + 31.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973830 ms (missed cycles : 2).[0m ×2 + 32.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.580ms + 32.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.286ms + 32.68sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.68sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393337 ms (missed cycles : 4). + 32.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393337 ms (missed cycles : 4).[0m ×2 + 32.97sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.65sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 33.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685551 ms (missed cycles : 3). + 33.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685551 ms (missed cycles : 3).[0m ×2 + 34.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467355 ms (missed cycles : 2). + 34.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467355 ms (missed cycles : 2).[0m ×2 + 35.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.037ms + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456379 ms (missed cycles : 2). + 36.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456379 ms (missed cycles : 2).[0m ×2 + 36.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.847ms + 36.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.734ms + 36.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.144ms + 37.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871661 ms (missed cycles : 2). + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871661 ms (missed cycles : 2).[0m ×2 + 37.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.921ms + 37.41sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 37.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.290ms + 38.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.626ms + 38.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791445 ms (missed cycles : 3). + 38.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791445 ms (missed cycles : 3).[0m ×2 + 38.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.186ms + 38.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.447ms + 38.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.526ms + 38.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.486ms + 39.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655832 ms (missed cycles : 3). + 39.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655832 ms (missed cycles : 3).[0m ×2 + 40.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791370 ms (missed cycles : 5). + 40.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791370 ms (missed cycles : 5).[0m ×2 + 41.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673144 ms (missed cycles : 3). + 41.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673144 ms (missed cycles : 3).[0m ×2 + 42.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887536 ms (missed cycles : 4). + 42.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887536 ms (missed cycles : 4).[0m ×2 + 42.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.677ms + 43.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659338 ms (missed cycles : 4). + 43.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659338 ms (missed cycles : 4).[0m ×2 + 43.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.018ms + 44.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.368ms + 44.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963937 ms (missed cycles : 3). + 44.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963937 ms (missed cycles : 3).[0m ×2 + 44.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.105ms + 45.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981253 ms (missed cycles : 3). + 45.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981253 ms (missed cycles : 3).[0m ×2 + 45.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.884ms + 46.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.955ms + 46.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948480 ms (missed cycles : 2). + 46.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948480 ms (missed cycles : 2).[0m ×2 + 46.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.198ms + 47.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.041ms + 47.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.156ms + 47.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.853303 ms (missed cycles : 5). + 47.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.853303 ms (missed cycles : 5).[0m ×2 + 48.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887381 ms (missed cycles : 3). + 48.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887381 ms (missed cycles : 3).[0m ×2 + 48.92sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 49.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.564ms + 49.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931728 ms (missed cycles : 2). + 49.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931728 ms (missed cycles : 2).[0m ×2 + 49.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.769ms + 50.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.619ms + 50.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723787 ms (missed cycles : 4). + 50.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723787 ms (missed cycles : 4).[0m ×2 + 51.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765895 ms (missed cycles : 2). + 51.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765895 ms (missed cycles : 2).[0m ×2 + 52.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.767ms + 52.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.518ms + 52.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126858 ms (missed cycles : 3). + 52.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126858 ms (missed cycles : 3).[0m ×2 + 53.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.890ms + 53.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793529 ms (missed cycles : 4). + 53.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793529 ms (missed cycles : 4).[0m ×2 + 54.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.277ms + 54.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.818ms + 54.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.730ms + 54.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790530 ms (missed cycles : 2). + 54.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790530 ms (missed cycles : 2).[0m ×2 + 55.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.818ms + 56.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444398 ms (missed cycles : 4). + 56.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444398 ms (missed cycles : 4).[0m ×2 + 56.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.006ms + 56.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.604ms + 57.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362722 ms (missed cycles : 3). + 57.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362722 ms (missed cycles : 3).[0m ×2 + 57.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.856ms + 58.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776384 ms (missed cycles : 2). + 58.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776384 ms (missed cycles : 2).[0m ×2 + 58.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.372ms + 58.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.217ms + 59.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.745ms + 59.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.834325 ms (missed cycles : 6). + 59.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.834325 ms (missed cycles : 6).[0m ×2 + 60.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.988425 ms (missed cycles : 6). + 60.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.988425 ms (missed cycles : 6).[0m ×2 + 60.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.330ms + 60.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.686ms + 60.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.255ms + 60.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.975ms + 61.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464893 ms (missed cycles : 4). + 61.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464893 ms (missed cycles : 4).[0m ×2 + 61.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.422ms + 61.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.368ms + 61.61sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 62.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207891 ms (missed cycles : 3). + 62.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207891 ms (missed cycles : 3).[0m ×2 + 62.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.232ms + 62.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.850ms + 63.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.262ms + 63.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.487ms + 63.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250419 ms (missed cycles : 2). + 63.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250419 ms (missed cycles : 2).[0m ×2 + 64.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291523 ms (missed cycles : 3). + 64.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291523 ms (missed cycles : 3).[0m ×2 + 65.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.804ms + 65.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403315 ms (missed cycles : 5). + 65.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403315 ms (missed cycles : 5).[0m ×2 + 66.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.118ms + 66.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324199 ms (missed cycles : 2). + 66.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324199 ms (missed cycles : 2).[0m ×2 + 67.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.836ms + 67.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.207ms + 67.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641390 ms (missed cycles : 4). + 67.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641390 ms (missed cycles : 4).[0m ×2 + 67.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.657ms + 68.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.904ms + 68.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524976 ms (missed cycles : 2). + 68.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524976 ms (missed cycles : 2).[0m ×2 + 69.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.127ms + 69.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717363 ms (missed cycles : 2). + 69.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717363 ms (missed cycles : 2).[0m ×2 + 69.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.158ms + 70.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.926ms + 70.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.842ms + 70.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.120ms + 70.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2). + 70.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2).[0m ×2 + 71.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 71.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4). + 71.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4).[0m ×2 + 71.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.816ms + 72.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2). + 72.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2).[0m ×2 + 73.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4). + 73.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4).[0m ×2 + 73.89sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783656852.52031517 seconds ×3 + 74.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.755ms + 74.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.193ms + 74.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783656853.08477640 seconds. ×3 + 74.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.161ms + 74.78sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 74.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2). + 74.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2).[0m ×2 + 74.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.731ms + 75.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.204ms + 75.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.170ms + 75.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.093ms + 76.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3). + 76.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3).[0m ×2 + 76.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.984ms + 76.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.730ms + 77.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3). + 77.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 56.5s | 183 warnings · 261 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.107ms + 0.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.436ms + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705437 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705437 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.630ms + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.041ms + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.152ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.885ms + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.639ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.010ms + 0.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.411ms + 0.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.651ms + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.863ms + 1.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.602ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384230 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384230 ms (missed cycles : 5).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.892ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.789ms + 1.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.956ms + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.056ms + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.797ms + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.017ms ×2 + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.677ms + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.287ms + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.031ms + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.613ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999433 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999433 ms (missed cycles : 2).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.123ms + 2.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.151ms + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.217ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.872ms + 2.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.441ms + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.761ms + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.922ms + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.482ms + 2.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.461ms + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.761ms + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.899ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683156 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683156 ms (missed cycles : 2).[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.305ms + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.798ms + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.657ms + 3.59sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.59sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.011ms + 3.64sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783656714.58481169 seconds ×3 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.197ms + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.999ms + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.711ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.361ms + 4.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.041ms + 4.19sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783656715.13474464 seconds. ×3 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.524ms + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289515 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289515 ms (missed cycles : 4).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.476ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.201ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.534ms + 4.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.597ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.654ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.889ms + 4.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.405ms + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.905ms + 5.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.509ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.290ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119107 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119107 ms (missed cycles : 2).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.186ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.211ms + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.084ms + 5.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.92sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.92sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660130 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660130 ms (missed cycles : 2).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.416ms + 6.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.205ms + 7.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.602ms + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121892 ms (missed cycles : 6). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121892 ms (missed cycles : 6).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810408 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810408 ms (missed cycles : 2).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.341ms + 9.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.446ms + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311055 ms (missed cycles : 4). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311055 ms (missed cycles : 4).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.055ms ×2 + 10.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.756ms + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.006920 ms (missed cycles : 5). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.006920 ms (missed cycles : 5).[0m ×2 + 10.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.412ms + 11.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.493ms + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700267 ms (missed cycles : 3). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700267 ms (missed cycles : 3).[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.840ms ×2 + 12.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.467ms + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284168 ms (missed cycles : 3). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284168 ms (missed cycles : 3).[0m ×2 + 12.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.309ms ×2 + 13.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.721ms + 13.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.758ms + 13.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.671ms + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239753 ms (missed cycles : 2). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239753 ms (missed cycles : 2).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.516ms + 14.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.116ms + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089193 ms (missed cycles : 2). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089193 ms (missed cycles : 2).[0m ×2 + 15.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.106ms + 15.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.996ms + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858035 ms (missed cycles : 4). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858035 ms (missed cycles : 4).[0m ×2 + 15.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.769ms + 16.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.500ms + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391668 ms (missed cycles : 3). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391668 ms (missed cycles : 3).[0m ×2 + 17.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.710ms + 17.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.009ms + 17.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.649ms + 17.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.999ms + 17.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.423ms + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354922 ms (missed cycles : 2). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354922 ms (missed cycles : 2).[0m ×2 + 18.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.848ms + 18.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.777ms + 19.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869710 ms (missed cycles : 3). + 19.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869710 ms (missed cycles : 3).[0m ×2 + 19.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.744ms + 19.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.792ms + 19.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.757ms + 20.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302016 ms (missed cycles : 4). + 20.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302016 ms (missed cycles : 4).[0m ×2 + 20.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.893ms + 20.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.609ms + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699062 ms (missed cycles : 3). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699062 ms (missed cycles : 3).[0m ×2 + 21.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.380ms + 21.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.694ms + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359459 ms (missed cycles : 3). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359459 ms (missed cycles : 3).[0m ×2 + 22.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.157ms + 22.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.907ms + 22.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.924ms + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918398 ms (missed cycles : 3). + 23.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918398 ms (missed cycles : 3).[0m ×2 + 23.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.199ms + 23.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.931ms ×3 + 24.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027373 ms (missed cycles : 4). + 24.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027373 ms (missed cycles : 4).[0m ×2 + 24.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.062ms + 24.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.791ms + 24.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.770ms + 25.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.884ms + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773740 ms (missed cycles : 2). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773740 ms (missed cycles : 2).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.636ms + 26.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.005ms + 26.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948726 ms (missed cycles : 2). + 26.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948726 ms (missed cycles : 2).[0m ×2 + 26.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.696ms + 26.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.730ms + 26.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.016ms + 27.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.807ms + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112849 ms (missed cycles : 2). + 27.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112849 ms (missed cycles : 2).[0m ×2 + 27.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.604ms + 28.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.279ms + 28.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.184ms + 28.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038670 ms (missed cycles : 3). + 28.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038670 ms (missed cycles : 3).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.262ms + 29.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.738ms + 29.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159286 ms (missed cycles : 2). + 29.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159286 ms (missed cycles : 2).[0m ×2 + 30.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.125ms + 30.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.255ms + 30.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389178 ms (missed cycles : 4). + 30.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389178 ms (missed cycles : 4).[0m ×2 + 30.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.043ms + 30.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.905ms + 31.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.791ms + 31.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718195 ms (missed cycles : 3). + 31.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718195 ms (missed cycles : 3).[0m ×2 + 31.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.966ms + 32.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896022 ms (missed cycles : 2). + 32.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896022 ms (missed cycles : 2).[0m ×2 + 32.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.093ms + 32.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.763ms + 33.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.876ms + 33.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.164ms + 33.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.663ms + 33.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187399 ms (missed cycles : 2). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187399 ms (missed cycles : 2).[0m ×2 + 34.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939230 ms (missed cycles : 2). + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939230 ms (missed cycles : 2).[0m ×2 + 35.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.264000 ms (missed cycles : 5). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.264000 ms (missed cycles : 5).[0m ×2 + 35.89sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.788ms + 36.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.331ms + 36.55sINFOobjective_server_nodePlanning for 51 path waypoints. ×3 + 36.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783283 ms (missed cycles : 4). + 36.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783283 ms (missed cycles : 4).[0m ×2 + 37.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970305 ms (missed cycles : 2). + 37.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970305 ms (missed cycles : 2).[0m ×2 + 38.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.003ms + 38.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.964ms + 38.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.408ms + 38.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013137 ms (missed cycles : 2). + 38.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013137 ms (missed cycles : 2).[0m ×2 + 39.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.930ms + 39.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.271ms + 39.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557236 ms (missed cycles : 3). + 39.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557236 ms (missed cycles : 3).[0m ×2 + 40.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.754ms + 40.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.326ms + 40.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.141ms + 40.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710025 ms (missed cycles : 4). + 40.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710025 ms (missed cycles : 4).[0m ×2 + 41.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.612ms + 41.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.997ms + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186713 ms (missed cycles : 2). + 41.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186713 ms (missed cycles : 2).[0m ×2 + 42.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.353ms + 42.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.091ms + 42.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294195 ms (missed cycles : 4). + 42.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294195 ms (missed cycles : 4).[0m ×2 + 43.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.002ms + 43.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.821ms + 43.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643199 ms (missed cycles : 2). + 43.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643199 ms (missed cycles : 2).[0m ×2 + 44.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.688ms + 44.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.655ms + 44.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.065ms + 45.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308947 ms (missed cycles : 2). + 45.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308947 ms (missed cycles : 2).[0m ×2 + 45.09sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 45.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.156ms + 45.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.487ms + 45.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.435ms + 46.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.589605 ms (missed cycles : 6). + 46.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.589605 ms (missed cycles : 6).[0m ×2 + 46.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.294ms + 47.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640261 ms (missed cycles : 2). + 47.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640261 ms (missed cycles : 2).[0m ×2 + 47.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.661ms + 48.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.554ms + 48.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.841ms + 48.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195686 ms (missed cycles : 2). + 48.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195686 ms (missed cycles : 2).[0m ×2 + 48.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.495ms + 49.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802395 ms (missed cycles : 2). + 49.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802395 ms (missed cycles : 2).[0m ×2 + 49.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.290ms + 50.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700005 ms (missed cycles : 4). + 50.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700005 ms (missed cycles : 4).[0m ×2 + 50.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.320ms + 50.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.816ms + 50.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.080ms + 51.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.154839 ms (missed cycles : 7). + 51.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.154839 ms (missed cycles : 7).[0m ×2 + 51.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.541ms + 52.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642707 ms (missed cycles : 3). + 52.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642707 ms (missed cycles : 3).[0m ×2 + 52.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.682ms + 52.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.003ms + 53.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.141ms + 53.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.040ms + 53.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805952 ms (missed cycles : 4). + 53.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805952 ms (missed cycles : 4).[0m ×2 + 54.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693247 ms (missed cycles : 2). + 54.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693247 ms (missed cycles : 2).[0m ×2 + 54.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.361ms + 55.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.897ms + 55.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.137ms + 55.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979056 ms (missed cycles : 2). + 55.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979056 ms (missed cycles : 2).[0m ×2 + 56.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.650ms + 56.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837372 ms (missed cycles : 2). + 56.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837372 ms (missed cycles : 2).[0m ×2 + 57.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.954ms + 57.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.573ms + 57.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772468 ms (missed cycles : 3). + 57.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772468 ms (missed cycles : 3).[0m ×2 + 58.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.773ms + 58.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383004 ms (missed cycles : 7). + 58.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383004 ms (missed cycles : 7).[0m ×2 + 59.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.461ms + 59.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.974ms + 59.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754060 ms (missed cycles : 3). + 59.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754060 ms (missed cycles : 3).[0m ×2 + 60.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1783656771.10488486 seconds ×3 + 60.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.090ms + 60.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.443ms + 60.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.431ms + 60.71sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1783656771.66382337 seconds. ×3 + 60.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.396ms + 60.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738792 ms (missed cycles : 2). + 60.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738792 ms (missed cycles : 2).[0m ×2 + 61.02sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 61.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.110ms + 61.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.676ms + 61.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.095ms + 61.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.284ms + 61.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456320 ms (missed cycles : 6). + 61.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456320 ms (missed cycles : 6).[0m ×2 + 61.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.993ms + 61.98sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 62.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.545ms + 62.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.194ms + 62.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.850ms + 62.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.480ms + 62.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235834 ms (missed cycles : 2). + 62.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235834 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.4s | 180 warnings · 166 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783656618.68112183 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.20sINFOamclParticle filter update iteration stats: 1640 particles 723 points - 1.736ms + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840960 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840960 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783656619.23354745 seconds. ×3 + 0.80sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 1.393ms + 1.39sINFOobjective_server_nodeFound path in 0 iterations (2.1111e-05 s). ×2 + 1.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.41sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.41sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.41sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.41sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185912 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185912 ms (missed cycles : 3).[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866704 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866704 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1783656622.15369034 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771197 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771197 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1783656622.70750356 seconds. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120628 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120628 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711537 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711537 ms (missed cycles : 4).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082639 ms (missed cycles : 3). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082639 ms (missed cycles : 3).[0m ×2 + 7.60sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.150ms + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021416 ms (missed cycles : 3). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021416 ms (missed cycles : 3).[0m ×2 + 8.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 8.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.044325 ms (missed cycles : 5). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.044325 ms (missed cycles : 5).[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 9.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.556251 ms (missed cycles : 6). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.556251 ms (missed cycles : 6).[0m ×2 + 10.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.128ms + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440176 ms (missed cycles : 4). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440176 ms (missed cycles : 4).[0m ×2 + 11.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 11.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms ×2 + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962163 ms (missed cycles : 3). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962163 ms (missed cycles : 3).[0m ×2 + 12.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675824 ms (missed cycles : 5). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675824 ms (missed cycles : 5).[0m ×2 + 13.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.390818 ms (missed cycles : 4). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.390818 ms (missed cycles : 4).[0m ×2 + 14.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 14.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799161 ms (missed cycles : 2). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799161 ms (missed cycles : 2).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115439 ms (missed cycles : 2). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115439 ms (missed cycles : 2).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 17.39sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553788 ms (missed cycles : 4). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553788 ms (missed cycles : 4).[0m ×2 + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 18.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795933 ms (missed cycles : 6). + 18.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795933 ms (missed cycles : 6).[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.726ms + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.758ms + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577993 ms (missed cycles : 3). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577993 ms (missed cycles : 3).[0m ×2 + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 20.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.785ms + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.729ms + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032736 ms (missed cycles : 2). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032736 ms (missed cycles : 2).[0m ×2 + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.577ms + 21.60sINFOamclParticle 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 3.883190 ms (missed cycles : 3). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883190 ms (missed cycles : 3).[0m ×2 + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.786ms + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711246 ms (missed cycles : 2). + 22.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711246 ms (missed cycles : 2).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617664 ms (missed cycles : 3). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617664 ms (missed cycles : 3).[0m ×2 + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975888 ms (missed cycles : 5). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975888 ms (missed cycles : 5).[0m ×2 + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 26.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484901 ms (missed cycles : 5). + 26.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484901 ms (missed cycles : 5).[0m ×2 + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.716ms + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 27.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642141 ms (missed cycles : 4). + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642141 ms (missed cycles : 4).[0m ×2 + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.644ms + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.736ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 28.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883848 ms (missed cycles : 2). + 28.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883848 ms (missed cycles : 2).[0m ×2 + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 29.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200355 ms (missed cycles : 2). + 29.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200355 ms (missed cycles : 2).[0m ×2 + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.769ms + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.763ms + 30.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833508 ms (missed cycles : 2). + 30.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833508 ms (missed cycles : 2).[0m ×2 + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.692ms + 31.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.741ms + 31.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537104 ms (missed cycles : 4). + 31.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537104 ms (missed cycles : 4).[0m ×2 + 31.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 32.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045255 ms (missed cycles : 2). + 32.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045255 ms (missed cycles : 2).[0m ×2 + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 33.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330504 ms (missed cycles : 2). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330504 ms (missed cycles : 2).[0m ×2 + 34.36sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582855 ms (missed cycles : 2). + 34.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582855 ms (missed cycles : 2).[0m ×2 + 35.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 35.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085225 ms (missed cycles : 2). + 35.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085225 ms (missed cycles : 2).[0m ×2 + 36.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066587 ms (missed cycles : 2). + 36.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066587 ms (missed cycles : 2).[0m ×2 + 37.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519310 ms (missed cycles : 2). + 37.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519310 ms (missed cycles : 2).[0m ×2 + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908136 ms (missed cycles : 4). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908136 ms (missed cycles : 4).[0m ×2 + 39.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.842867 ms (missed cycles : 6). + 39.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.842867 ms (missed cycles : 6).[0m ×2 + 40.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.761ms + 40.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272778 ms (missed cycles : 2). + 40.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272778 ms (missed cycles : 2).[0m ×2 + 41.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.707298 ms (missed cycles : 5). + 41.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.707298 ms (missed cycles : 5).[0m ×2 + 42.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767243 ms (missed cycles : 2). + 42.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767243 ms (missed cycles : 2).[0m ×2 + 43.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317080 ms (missed cycles : 2). + 43.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317080 ms (missed cycles : 2).[0m ×2 + 44.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009028 ms (missed cycles : 3). + 44.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009028 ms (missed cycles : 3).[0m ×2 + 46.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938577 ms (missed cycles : 2). + 46.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938577 ms (missed cycles : 2).[0m ×2 + 47.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989243 ms (missed cycles : 2). + 47.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989243 ms (missed cycles : 2).[0m ×2 + 48.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.740ms + 48.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348070 ms (missed cycles : 2). + 48.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348070 ms (missed cycles : 2).[0m ×2 + 49.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197507 ms (missed cycles : 4). + 49.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197507 ms (missed cycles : 4).[0m ×2 + 50.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699119 ms (missed cycles : 2). + 50.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699119 ms (missed cycles : 2).[0m ×2 + 51.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.711ms + 51.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008902 ms (missed cycles : 3). + 51.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008902 ms (missed cycles : 3).[0m ×2 + 52.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693003 ms (missed cycles : 5). + 52.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693003 ms (missed cycles : 5).[0m ×2 + 53.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120510 ms (missed cycles : 4). + 53.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120510 ms (missed cycles : 4).[0m ×2 + 54.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727747 ms (missed cycles : 2). + 54.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727747 ms (missed cycles : 2).[0m ×2 + 55.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.686ms + 55.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230422 ms (missed cycles : 3). + 55.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230422 ms (missed cycles : 3).[0m ×2 + 56.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385641 ms (missed cycles : 3). + 56.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385641 ms (missed cycles : 3).[0m ×2 + 57.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229894 ms (missed cycles : 3). + 57.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229894 ms (missed cycles : 3).[0m ×2 + 58.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192538 ms (missed cycles : 2). + 58.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192538 ms (missed cycles : 2).[0m ×2 + 58.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.704ms + 59.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770349 ms (missed cycles : 2). + 59.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770349 ms (missed cycles : 2).[0m ×2 + 59.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783656678.59763908 seconds ×3 + 60.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.120ms + 60.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.455ms + 60.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.887ms + 60.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783656679.15997815 seconds. ×3 + 60.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313305 ms (missed cycles : 5). + 60.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313305 ms (missed cycles : 5).[0m ×2 + 60.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.186ms + 60.82sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 60.83sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761355 ms (missed cycles : 2). + 61.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761355 ms (missed cycles : 2).[0m ×2 + 62.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.059ms + 62.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948965 ms (missed cycles : 2). + 62.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948965 ms (missed cycles : 2).[0m ×2 + 63.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 63.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.597ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 54.9s | 177 warnings · 192 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.120ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.816ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.087ms + 3.66sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.66sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783656852.52031517 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.755ms + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.193ms + 4.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783656853.08477640 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.161ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2).[0m ×2 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.731ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.204ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.170ms + 5.67sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.093ms + 5.71sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.71sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.984ms + 6.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.730ms + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3).[0m ×2 + 7.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.740ms + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.017243 ms (missed cycles : 5). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.017243 ms (missed cycles : 5).[0m ×2 + 8.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.730ms + 8.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.841ms + 8.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.216ms + 8.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.240ms + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122381 ms (missed cycles : 4). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122381 ms (missed cycles : 4).[0m ×2 + 9.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.218ms + 9.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.432ms + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750954 ms (missed cycles : 2). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750954 ms (missed cycles : 2).[0m ×2 + 10.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.503ms + 10.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.531ms + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.957073 ms (missed cycles : 5). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.957073 ms (missed cycles : 5).[0m ×2 + 11.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.380ms + 11.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.154ms ×2 + 11.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.979ms + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664313 ms (missed cycles : 4). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664313 ms (missed cycles : 4).[0m ×2 + 12.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.112ms + 12.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.008ms + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648371 ms (missed cycles : 3). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648371 ms (missed cycles : 3).[0m ×2 + 13.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.258ms + 13.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.152ms + 13.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.211ms + 13.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.858ms + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140170 ms (missed cycles : 2). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140170 ms (missed cycles : 2).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.992ms + 15.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.153ms + 15.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.486ms + 15.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.214ms + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802979 ms (missed cycles : 3). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802979 ms (missed cycles : 3).[0m ×2 + 15.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.207ms + 15.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.083ms + 16.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.691ms + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189289 ms (missed cycles : 4). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189289 ms (missed cycles : 4).[0m ×2 + 16.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.914ms + 17.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.091ms + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417254 ms (missed cycles : 3). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417254 ms (missed cycles : 3).[0m ×2 + 17.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.536ms + 17.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.047ms + 17.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.451ms + 18.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.671ms + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907565 ms (missed cycles : 2). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907565 ms (missed cycles : 2).[0m ×2 + 18.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.303ms + 19.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.990ms + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339298 ms (missed cycles : 6). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339298 ms (missed cycles : 6).[0m ×2 + 19.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.808ms + 20.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.587ms + 20.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.443ms + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596484 ms (missed cycles : 2). + 20.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596484 ms (missed cycles : 2).[0m ×2 + 20.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.972ms + 21.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.152ms + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806330 ms (missed cycles : 2). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806330 ms (missed cycles : 2).[0m ×2 + 21.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.393ms + 22.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.736ms + 22.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932438 ms (missed cycles : 2). + 22.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932438 ms (missed cycles : 2).[0m ×2 + 22.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.993ms + 22.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.478ms + 23.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.358ms + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391388 ms (missed cycles : 3). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391388 ms (missed cycles : 3).[0m ×2 + 23.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.609ms ×2 + 24.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.347ms + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856050 ms (missed cycles : 2). + 24.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856050 ms (missed cycles : 2).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.885ms + 25.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.981ms + 25.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233400 ms (missed cycles : 3). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233400 ms (missed cycles : 3).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.867ms + 25.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.912ms + 26.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.148ms + 26.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.220104 ms (missed cycles : 5). + 26.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.220104 ms (missed cycles : 5).[0m ×2 + 26.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.140ms + 26.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.660ms + 26.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.078ms + 27.20sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 27.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.955ms + 27.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.554ms + 27.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567517 ms (missed cycles : 3). + 27.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567517 ms (missed cycles : 3).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.376ms + 28.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.776ms + 28.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.987ms + 28.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148160 ms (missed cycles : 2). + 28.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148160 ms (missed cycles : 2).[0m ×2 + 28.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.890ms + 29.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.383ms + 29.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.457ms ×2 + 29.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.885ms + 29.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093234 ms (missed cycles : 3). + 29.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093234 ms (missed cycles : 3).[0m ×2 + 30.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.724ms + 30.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.886ms + 30.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801893 ms (missed cycles : 4). + 30.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801893 ms (missed cycles : 4).[0m ×2 + 30.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.334ms + 31.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.731ms + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.811598 ms (missed cycles : 7). + 31.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.811598 ms (missed cycles : 7).[0m ×2 + 31.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.817ms + 32.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.194530 ms (missed cycles : 4). + 32.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.194530 ms (missed cycles : 4).[0m ×2 + 32.97sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.738ms + 33.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.111ms + 33.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.664ms + 33.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.859ms + 33.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.584289 ms (missed cycles : 5). + 33.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.584289 ms (missed cycles : 5).[0m ×2 + 34.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183405 ms (missed cycles : 2). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183405 ms (missed cycles : 2).[0m ×2 + 36.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785512 ms (missed cycles : 5). + 36.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785512 ms (missed cycles : 5).[0m ×2 + 37.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.621636 ms (missed cycles : 5). + 37.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.621636 ms (missed cycles : 5).[0m ×2 + 37.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.048ms + 37.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.259ms + 38.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374856 ms (missed cycles : 2). + 38.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374856 ms (missed cycles : 2).[0m ×2 + 38.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.728ms + 39.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938827 ms (missed cycles : 4). + 39.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938827 ms (missed cycles : 4).[0m ×2 + 39.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.888ms + 39.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.177ms + 39.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.223ms + 40.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946192 ms (missed cycles : 2). + 40.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946192 ms (missed cycles : 2).[0m ×2 + 41.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286166 ms (missed cycles : 2). + 41.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286166 ms (missed cycles : 2).[0m ×2 + 42.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.160ms + 42.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.073ms + 42.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673571 ms (missed cycles : 2). + 42.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673571 ms (missed cycles : 2).[0m ×2 + 42.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.481ms + 42.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.143ms + 43.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102438 ms (missed cycles : 3). + 43.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102438 ms (missed cycles : 3).[0m ×2 + 44.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.487ms + 44.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.629ms + 44.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.971436 ms (missed cycles : 6). + 44.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.971436 ms (missed cycles : 6).[0m ×2 + 45.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628647 ms (missed cycles : 5). + 45.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628647 ms (missed cycles : 5).[0m ×2 + 46.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.815ms + 46.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.188070 ms (missed cycles : 6). + 46.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.188070 ms (missed cycles : 6).[0m ×2 + 47.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210943 ms (missed cycles : 2). + 47.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210943 ms (missed cycles : 2).[0m ×2 + 47.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.337ms + 47.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.452ms + 48.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765262 ms (missed cycles : 2). + 48.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765262 ms (missed cycles : 2).[0m ×2 + 48.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.560ms + 49.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.454ms + 49.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.601520 ms (missed cycles : 5). + 49.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.601520 ms (missed cycles : 5).[0m ×2 + 50.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536041 ms (missed cycles : 3). + 50.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536041 ms (missed cycles : 3).[0m ×2 + 51.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.247ms + 51.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.049ms + 51.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668642 ms (missed cycles : 2). + 51.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668642 ms (missed cycles : 2).[0m ×2 + 52.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.202ms + 52.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.109ms + 52.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054745 ms (missed cycles : 2). + 52.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054745 ms (missed cycles : 2).[0m ×2 + 53.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.993ms + 53.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921801 ms (missed cycles : 3). + 53.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921801 ms (missed cycles : 3).[0m ×2 + 54.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.756ms + 54.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.791ms + 54.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.395ms + 54.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772360 ms (missed cycles : 2). + 54.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772360 ms (missed cycles : 2).[0m ×2 + 56.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847875 ms (missed cycles : 2). + 56.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847875 ms (missed cycles : 2).[0m ×2 + 56.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.855ms + 56.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.661ms + 57.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661156 ms (missed cycles : 2). + 57.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661156 ms (missed cycles : 2).[0m ×2 + 58.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076463 ms (missed cycles : 3). + 58.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076463 ms (missed cycles : 3).[0m ×2 + 58.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1783656907.41491079 seconds ×3 + 58.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.198ms + 58.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.989ms + 59.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.700ms + 59.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1783656907.96930885 seconds. ×3 + 59.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.390152 ms (missed cycles : 5). + 59.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.390152 ms (missed cycles : 5).[0m ×2 + 59.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.893ms + 59.41sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). ×2 + 59.42sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 59.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.198ms + 60.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422384 ms (missed cycles : 2). + 60.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422384 ms (missed cycles : 2).[0m ×2 + 60.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.165ms + 61.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102150 ms (missed cycles : 2). + 61.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102150 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 44.7s | 3 errors · 153 warnings · 212 info |
+ 0.00sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.38sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.38sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.39sINFOros2-18process has finished cleanly [pid 9337] ×2 + 0.43sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.44sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.44sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.44sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.44sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.44sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.44sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.44sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.45sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.45sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.45sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.79sINFOros2-10process has finished cleanly [pid 9328] ×2 + 0.81sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.81sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.83sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.83sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.83sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.83sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 0.86sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.86sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.86sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.86sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.87sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.13sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.13sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.13sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.47sINFOros2-15process has finished cleanly [pid 9333] ×2 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.60sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×6 + 5.50sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 5.70sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 + 6.64sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.64sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.65sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081441 ms (missed cycles : 3). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081441 ms (missed cycles : 3).[0m ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732844 ms (missed cycles : 3). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732844 ms (missed cycles : 3).[0m ×2 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151607 ms (missed cycles : 2). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151607 ms (missed cycles : 2).[0m ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847493 ms (missed cycles : 2). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847493 ms (missed cycles : 2).[0m ×2 + 11.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207716 ms (missed cycles : 2). + 11.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207716 ms (missed cycles : 2).[0m ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037137 ms (missed cycles : 3). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037137 ms (missed cycles : 3).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284680 ms (missed cycles : 4). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284680 ms (missed cycles : 4).[0m ×2 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238090 ms (missed cycles : 4). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238090 ms (missed cycles : 4).[0m ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404264 ms (missed cycles : 3). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404264 ms (missed cycles : 3).[0m ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132933 ms (missed cycles : 3). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132933 ms (missed cycles : 3).[0m ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538558 ms (missed cycles : 4). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538558 ms (missed cycles : 4).[0m ×2 + 18.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792671 ms (missed cycles : 3). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792671 ms (missed cycles : 3).[0m ×2 + 19.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071307 ms (missed cycles : 4). + 19.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071307 ms (missed cycles : 4).[0m ×2 + 20.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747446 ms (missed cycles : 3). + 20.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747446 ms (missed cycles : 3).[0m ×2 + 21.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107031 ms (missed cycles : 3). + 21.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107031 ms (missed cycles : 3).[0m ×2 + 22.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895038 ms (missed cycles : 3). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895038 ms (missed cycles : 3).[0m ×2 + 23.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410680 ms (missed cycles : 2). + 23.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410680 ms (missed cycles : 2).[0m ×2 + 24.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868322 ms (missed cycles : 2). + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868322 ms (missed cycles : 2).[0m ×2 + 25.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474687 ms (missed cycles : 3). + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474687 ms (missed cycles : 3).[0m ×2 + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406902 ms (missed cycles : 4). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406902 ms (missed cycles : 4).[0m ×2 + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439689 ms (missed cycles : 4). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439689 ms (missed cycles : 4).[0m ×2 + 28.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577645 ms (missed cycles : 4). + 28.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577645 ms (missed cycles : 4).[0m ×2 + 29.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498897 ms (missed cycles : 4). + 29.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498897 ms (missed cycles : 4).[0m ×2 + 30.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990203 ms (missed cycles : 2). + 31.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990203 ms (missed cycles : 2).[0m ×2 + 32.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.670511 ms (missed cycles : 5). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.670511 ms (missed cycles : 5).[0m ×2 + 32.12sINFOamclParticle filter update iteration stats: 1967 particles 723 points - 1.766ms + 33.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475148 ms (missed cycles : 2). + 33.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475148 ms (missed cycles : 2).[0m ×2 + 34.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383558 ms (missed cycles : 3). + 34.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383558 ms (missed cycles : 3).[0m ×2 + 35.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797243 ms (missed cycles : 2). + 35.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797243 ms (missed cycles : 2).[0m ×2 + 36.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079554 ms (missed cycles : 2). + 36.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079554 ms (missed cycles : 2).[0m ×2 + 37.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459346 ms (missed cycles : 2). + 37.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459346 ms (missed cycles : 2).[0m ×2 + 38.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848679 ms (missed cycles : 2). + 38.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848679 ms (missed cycles : 2).[0m ×2 + 39.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680354 ms (missed cycles : 2). + 39.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680354 ms (missed cycles : 2).[0m ×2 + 40.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845102 ms (missed cycles : 3). + 40.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845102 ms (missed cycles : 3).[0m ×2 + 41.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817927 ms (missed cycles : 4). + 41.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817927 ms (missed cycles : 4).[0m ×2 + 42.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191794 ms (missed cycles : 2). + 42.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191794 ms (missed cycles : 2).[0m ×2 + 43.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055577 ms (missed cycles : 3). + 43.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055577 ms (missed cycles : 3).[0m ×2 + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137383 ms (missed cycles : 4). + 44.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137383 ms (missed cycles : 4).[0m ×2 + 45.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377635 ms (missed cycles : 3). + 45.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377635 ms (missed cycles : 3).[0m ×2 + 46.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955768 ms (missed cycles : 3). + 46.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955768 ms (missed cycles : 3).[0m ×2 + 47.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177396 ms (missed cycles : 2). + 47.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177396 ms (missed cycles : 2).[0m ×2 + 48.31sINFOjoint_trajectory_controllerGoal reached, success! + 48.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 48.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783656618.68112183 seconds ×3 + 48.52sINFOamclParticle filter update iteration stats: 1640 particles 723 points - 1.736ms + 48.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840960 ms (missed cycles : 3). + 48.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840960 ms (missed cycles : 3).[0m ×2 + 48.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783656619.23354745 seconds. ×3 + 49.12sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 1.393ms + 49.70sINFOobjective_server_nodeFound path in 0 iterations (2.1111e-05 s). ×2 + 49.70sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185912 ms (missed cycles : 3). + 49.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185912 ms (missed cycles : 3).[0m ×2 + 51.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866704 ms (missed cycles : 2). + 51.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866704 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.4s | 105 warnings · 302 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.059ms + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948965 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948965 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 0.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.597ms + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833287 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833287 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.632ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.196ms + 1.94sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.94sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.99sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1783656683.14011645 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274671 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274671 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.917ms + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.879ms + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673878 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673878 ms (missed cycles : 2).[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.197ms ×2 + 3.54sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1783656684.69464636 seconds. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.350ms + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.520ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.639ms + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324023 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324023 ms (missed cycles : 2).[0m ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.03sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.03sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.03sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.03sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090278 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090278 ms (missed cycles : 4).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890006 ms (missed cycles : 4). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890006 ms (missed cycles : 4).[0m ×2 + 6.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.551ms + 7.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.162ms + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185089 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185089 ms (missed cycles : 3).[0m ×2 + 7.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.722ms + 7.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.940ms + 8.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.315ms + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159052 ms (missed cycles : 5). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159052 ms (missed cycles : 5).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.280ms + 8.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.535ms + 9.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.696ms + 9.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.965ms + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006328 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006328 ms (missed cycles : 2).[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.529ms + 9.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.790ms + 10.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.665ms + 10.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.366ms + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009941 ms (missed cycles : 4). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009941 ms (missed cycles : 4).[0m ×2 + 10.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.336ms + 10.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.461ms + 11.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.490ms + 11.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.742ms + 11.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.439ms + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397709 ms (missed cycles : 4). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397709 ms (missed cycles : 4).[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.208ms + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.636ms + 12.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.645ms + 12.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.206ms + 12.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.390ms + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211676 ms (missed cycles : 3). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211676 ms (missed cycles : 3).[0m ×2 + 13.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.427ms + 13.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.037ms + 13.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.056ms + 13.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.952ms ×2 + 13.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.618ms + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807321 ms (missed cycles : 3). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807321 ms (missed cycles : 3).[0m ×2 + 14.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.722ms + 14.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.566ms + 14.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.664ms + 14.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.212ms + 14.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.796ms + 14.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.376ms + 14.88sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062187 ms (missed cycles : 5). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062187 ms (missed cycles : 5).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.065ms + 15.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.513ms + 15.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.810ms + 15.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.465ms + 15.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.329ms + 15.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.572ms + 15.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.479ms + 16.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.652ms + 16.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.913ms + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125651 ms (missed cycles : 4). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125651 ms (missed cycles : 4).[0m ×2 + 16.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.855ms + 16.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.076ms + 16.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.119ms + 16.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.973ms + 17.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.620ms + 17.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.816ms + 17.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.601ms + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717257 ms (missed cycles : 2). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717257 ms (missed cycles : 2).[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.901ms + 17.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.030ms + 17.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.541ms + 17.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.951ms + 17.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.565ms + 17.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.789ms + 18.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.499ms + 18.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.622ms + 18.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.951ms + 18.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.010ms ×2 + 18.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871527 ms (missed cycles : 2). + 18.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871527 ms (missed cycles : 2).[0m ×2 + 18.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.207ms + 18.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.044ms + 18.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.733ms + 18.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.226ms + 18.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.458ms + 18.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.260ms + 18.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.342ms + 19.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.020ms + 19.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.741ms + 19.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.186ms ×2 + 19.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.796ms + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808675 ms (missed cycles : 2). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808675 ms (missed cycles : 2).[0m ×2 + 19.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.267ms + 19.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.116ms + 19.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms + 19.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.967ms + 19.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.466ms + 20.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.198ms + 20.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.415ms + 20.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.237ms + 20.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.815ms + 20.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.438ms + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833886 ms (missed cycles : 4). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833886 ms (missed cycles : 4).[0m ×2 + 20.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.368ms + 20.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.151ms + 20.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.148ms + 20.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.932ms + 21.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.468ms + 21.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.429ms + 21.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.553ms + 21.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.744ms + 21.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.235ms + 21.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.477ms + 21.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121892 ms (missed cycles : 3). + 21.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121892 ms (missed cycles : 3).[0m ×2 + 21.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.161ms + 21.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.225ms + 21.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.845ms + 21.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.534ms + 22.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.675ms + 22.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.514ms + 22.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.401ms + 22.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.288ms + 22.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.757ms + 22.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.635ms + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094911 ms (missed cycles : 2). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094911 ms (missed cycles : 2).[0m ×2 + 22.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.539ms + 22.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.148ms + 22.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.503ms + 22.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.834ms + 22.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.553ms + 23.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.428ms + 23.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.027ms + 23.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.756ms + 23.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.673ms + 23.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.798ms + 23.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.436ms + 23.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168681 ms (missed cycles : 3). + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168681 ms (missed cycles : 3).[0m ×2 + 23.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.455ms + 23.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.538ms + 23.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.454ms + 24.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.408ms + 24.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.688ms + 24.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.475ms + 24.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.986ms + 24.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.079ms + 24.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.118ms + 24.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.698ms + 24.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170651 ms (missed cycles : 2). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170651 ms (missed cycles : 2).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.364ms + 24.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.366ms + 24.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.380ms + 24.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.885ms ×2 + 25.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.523ms + 25.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.715ms + 25.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.451ms + 25.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.576ms + 25.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.155ms + 25.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms + 25.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276966 ms (missed cycles : 2). + 25.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276966 ms (missed cycles : 2).[0m ×2 + 25.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.711ms ×2 + 25.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.073ms + 25.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.111ms + 25.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.977ms + 26.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.993ms + 26.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.526ms + 26.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.580ms + 26.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.154ms + 26.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.197ms + 26.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.211ms ×2 + 26.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.135ms + 26.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082833 ms (missed cycles : 4). + 26.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082833 ms (missed cycles : 4).[0m ×2 + 26.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.018ms + 26.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.600ms + 26.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.039ms + 27.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.921ms + 27.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.718ms + 27.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.064ms + 27.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.894ms + 27.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.668ms + 27.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.411ms + 27.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.387ms + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998080 ms (missed cycles : 5). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998080 ms (missed cycles : 5).[0m ×2 + 27.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.949ms + 27.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.645ms + 28.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.012ms + 28.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.478ms + 28.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.889ms + 28.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.085ms + 28.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.852ms + 28.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.189ms + 28.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.870ms + 28.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.475ms + 28.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.204ms + 28.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914486 ms (missed cycles : 4). + 28.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914486 ms (missed cycles : 4).[0m ×2 + 28.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.795ms + 29.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.731ms + 29.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.306ms + 29.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.792ms + 29.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.688ms + 29.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.250ms + 29.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.109ms + 29.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.904ms + 29.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.107ms + 29.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.436ms + 29.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705437 ms (missed cycles : 3). + 29.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705437 ms (missed cycles : 3).[0m ×2 + 30.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.630ms + 30.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.041ms + 30.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.152ms + 30.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.639ms + 30.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.411ms + 30.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.651ms + 30.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.863ms + 30.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.602ms + 30.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384230 ms (missed cycles : 5). + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384230 ms (missed cycles : 5).[0m ×2 + 30.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.892ms + 31.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.789ms + 31.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.956ms + 31.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.056ms + 31.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.797ms + 31.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.017ms + 31.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.677ms + 31.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.287ms + 31.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.031ms + 31.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.613ms + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999433 ms (missed cycles : 2). + 31.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999433 ms (missed cycles : 2).[0m ×2 + 32.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.123ms + 32.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.151ms + 32.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.217ms + 32.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.872ms + 32.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.441ms + 32.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.761ms + 32.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.922ms + 32.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.482ms + 32.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.461ms + 32.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.761ms + 32.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.899ms + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683156 ms (missed cycles : 2). + 33.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683156 ms (missed cycles : 2).[0m ×2 + 33.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.305ms + 33.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.798ms + 33.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.657ms + 33.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.011ms + 33.43sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783656714.58481169 seconds ×3 + 33.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.197ms + 33.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.999ms + 33.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.361ms + 33.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.041ms + 33.98sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783656715.13474464 seconds. ×3 + 34.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.524ms + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289515 ms (missed cycles : 4). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289515 ms (missed cycles : 4).[0m ×2 + 34.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.476ms + 34.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.201ms + 34.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.534ms + 34.35sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 34.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.597ms + 34.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.654ms + 34.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.889ms + 34.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.405ms + 34.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.905ms + 34.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.509ms + 35.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.290ms + 35.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119107 ms (missed cycles : 2). + 35.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119107 ms (missed cycles : 2).[0m ×2 + 35.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.084ms + 35.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660130 ms (missed cycles : 2). + 36.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660130 ms (missed cycles : 2).[0m ×2 + 36.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.416ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.5s | 57 warnings · 154 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772360 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772360 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847875 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847875 ms (missed cycles : 2).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.855ms + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.661ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661156 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661156 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076463 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076463 ms (missed cycles : 3).[0m ×2 + 3.65sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.65sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1783656907.41491079 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.198ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.989ms + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.700ms + 4.23sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1783656907.96930885 seconds. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.390152 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.390152 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.893ms + 4.51sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.198ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422384 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422384 ms (missed cycles : 2).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.165ms + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102150 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102150 ms (missed cycles : 2).[0m ×2 + 7.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.029ms + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200431 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200431 ms (missed cycles : 3).[0m ×2 + 7.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.933ms + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343805 ms (missed cycles : 6). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343805 ms (missed cycles : 6).[0m ×2 + 8.66sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 8.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.71sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 8.73sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.76sINFOobjective_server_nodeFound path in 0 iterations (7.1e-07 s). ×2 + 8.81sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.85sINFOobjective_server_nodeFound path in 0 iterations (9e-07 s). ×2 + 8.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.500ms + 8.95sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.99sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 9.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.685ms + 9.20sINFOobjective_server_nodeFound path in 69 iterations (0.040951 s). ×2 + 9.36sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.40sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×4 + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.882ms + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931827 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931827 ms (missed cycles : 2).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.873ms + 9.70sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.00sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.024ms + 10.19sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.275ms + 10.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.918ms + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.811ms + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246740 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246740 ms (missed cycles : 3).[0m ×2 + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.331ms + 10.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.694ms + 10.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.039ms + 11.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.376ms + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583805 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583805 ms (missed cycles : 2).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.783ms + 12.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.708ms + 12.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.721ms + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538700 ms (missed cycles : 3). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538700 ms (missed cycles : 3).[0m ×2 + 13.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.994ms + 13.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.428ms + 13.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.985ms + 13.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.893ms + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468425 ms (missed cycles : 5). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468425 ms (missed cycles : 5).[0m ×2 + 13.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.576ms + 13.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.403ms + 14.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.380ms + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779079 ms (missed cycles : 3). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779079 ms (missed cycles : 3).[0m ×2 + 15.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.637ms + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289859 ms (missed cycles : 4). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289859 ms (missed cycles : 4).[0m ×2 + 16.18sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1783656919.92073226 seconds ×3 + 16.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.378ms + 16.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.726ms + 16.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1783656920.50871444 seconds. ×3 + 16.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.77sINFOmove_groupClearing octomap...[0m ×2 + 16.77sINFOmove_groupOctomap cleared.[0m ×2 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992238 ms (missed cycles : 4). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992238 ms (missed cycles : 4).[0m ×2 + 17.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.979ms + 17.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1783656920.93135023 seconds ×3 + 17.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.668ms + 17.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.277ms + 17.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.738ms + 17.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1783656921.48183656 seconds. ×3 + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024044 ms (missed cycles : 3). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024044 ms (missed cycles : 3).[0m ×2 + 18.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.652ms + 18.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1783656921.83208919 seconds ×3 + 18.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.158ms + 18.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.477ms + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337985 ms (missed cycles : 3). + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337985 ms (missed cycles : 3).[0m ×2 + 19.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.367ms | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.1s | 3 errors · 54 warnings · 107 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837372 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837372 ms (missed cycles : 2).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.954ms + 0.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.573ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772468 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772468 ms (missed cycles : 3).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.840ms + 1.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.773ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383004 ms (missed cycles : 7). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383004 ms (missed cycles : 7).[0m ×2 + 2.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.461ms + 2.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.974ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754060 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754060 ms (missed cycles : 3).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! + 3.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1783656771.10488486 seconds ×3 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.090ms + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.443ms + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.431ms + 4.07sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1783656771.66382337 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.396ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738792 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738792 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.110ms + 4.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.676ms + 5.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.095ms + 5.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.284ms + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456320 ms (missed cycles : 6). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456320 ms (missed cycles : 6).[0m ×2 + 5.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.993ms + 5.33sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.545ms + 5.36sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.36sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.194ms + 5.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.850ms + 6.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.480ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235834 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235834 ms (missed cycles : 2).[0m ×2 + 6.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.177ms + 6.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.205ms + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229781 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229781 ms (missed cycles : 3).[0m ×2 + 7.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.381ms + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250237 ms (missed cycles : 4). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250237 ms (missed cycles : 4).[0m ×2 + 8.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.317ms + 9.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.859ms + 9.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.942ms + 9.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.368ms + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604063 ms (missed cycles : 4). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604063 ms (missed cycles : 4).[0m ×2 + 9.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.743ms + 9.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.834ms + 10.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.011ms + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543509 ms (missed cycles : 4). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543509 ms (missed cycles : 4).[0m ×2 + 10.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.838ms + 11.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.980ms + 11.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.160ms + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114688 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114688 ms (missed cycles : 2).[0m ×2 + 11.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.836ms + 11.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.267ms + 12.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.401ms + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661961 ms (missed cycles : 6). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661961 ms (missed cycles : 6).[0m ×2 + 12.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.722ms + 13.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.892ms + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440736 ms (missed cycles : 4). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440736 ms (missed cycles : 4).[0m ×2 + 13.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.810ms + 13.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.621ms + 14.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.492ms + 14.53sINFOjoint_trajectory_controllerGot request to cancel goal + 14.53sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.53sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.53sINFOros2_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: 1783656782.16046071 seconds ×3 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580240 ms (missed cycles : 3). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580240 ms (missed cycles : 3).[0m ×2 + 14.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.526ms + 15.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.238ms + 15.11sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1783656782.71011949 seconds. ×3 + 15.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.725ms + 15.41sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 15.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.106ms + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024387 ms (missed cycles : 3). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024387 ms (missed cycles : 3).[0m ×2 + 15.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.087ms + 16.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.705ms + 16.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.148ms + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439365 ms (missed cycles : 2). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439365 ms (missed cycles : 2).[0m ×2 + 17.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.293ms + 17.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.906ms + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493362 ms (missed cycles : 3). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493362 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.6s | 77 errors · 30 warnings · 393 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468425 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468425 ms (missed cycles : 5).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.576ms + 0.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.403ms + 0.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.380ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779079 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779079 ms (missed cycles : 3).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.637ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289859 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289859 ms (missed cycles : 4).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1783656919.92073226 seconds ×3 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.378ms + 3.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.726ms + 3.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1783656920.50871444 seconds. ×3 + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.11sINFOmove_groupClearing octomap...[0m ×2 + 3.11sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992238 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992238 ms (missed cycles : 4).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.979ms + 3.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1783656920.93135023 seconds ×3 + 3.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.668ms + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.277ms + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.738ms + 4.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1783656921.48183656 seconds. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024044 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024044 ms (missed cycles : 3).[0m ×2 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.652ms + 4.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1783656921.83208919 seconds ×3 + 4.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.158ms + 4.66sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.477ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337985 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337985 ms (missed cycles : 3).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.367ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234860 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234860 ms (missed cycles : 3).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573091 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573091 ms (missed cycles : 2).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263596 ms (missed cycles : 4). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263596 ms (missed cycles : 4).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529215 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529215 ms (missed cycles : 2).[0m ×2 + 10.00sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.507ms + 10.04sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 10.05sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 10.09sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 10.10sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 10.12sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 10.13sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.284ms + 10.15sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 10.17sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 10.19sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 10.20sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 10.22sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 10.24sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 10.26sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 10.29sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 10.29sINFOcontroller_managerShutdown request received.... + 10.29sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.29sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.29sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.29sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.29sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.29sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.29sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.29sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.29sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.29sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.29sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.29sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.29sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.29sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.29sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.29sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.29sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.29sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.29sINFOcontroller_managerShutting down the controller manager. + 10.29sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.31sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.32sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 10.33sINFOweb_video_server-31process has finished cleanly [pid 9411] ×2 + 10.33sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9410] ×2 + 10.33sERRORmove_group-19process has died [pid 9338, 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_rypkzbh0 --params-file /tmp/launch_params_6cr7plii --params-file /tmp/launch_params_a4w1d5lh --params-file /tmp/launch_params_oy5o8f9y --params-file /tmp/launch_params_g4b2t_i1 --params-file /tmp/launch_params_gsivfoei --params-file /tmp/launch_params_e6wctijz --params-file /tmp/launch_params_fdfw2x8y --params-file /tmp/launch_params_uhxdakiz']. ×2 + 10.34sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 10.36sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.37sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.37sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.39sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.39sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.39sINFOmap_serverDeactivating + 10.39sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.39sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.39sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.39sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.39sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.39sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.39sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 10.39sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.39sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.39sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.39sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.39sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.39sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.39sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.39sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.39sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.40sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.40sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.40sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.40sERRORmove_groupStack trace (most recent call last) in thread 9932: ×2 + 10.40sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.40sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fde882cba63, in __clone ×2 + 10.40sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fde8823eaa3, in ×2 + 10.40sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fde884cedb3, in ×2 + 10.40sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fde88b251c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.40sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fde888434d0, in rclcpp::Rate::sleep() ×2 + 10.40sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fde88796a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.40sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fde8875ba71, in ×2 + 10.40sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fde8849d390, in __cxa_throw ×2 + 10.40sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fde88487a54, in std::terminate() ×2 + 10.40sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fde8849d0d9, in ×2 + 10.40sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fde88487ff4, in ×2 + 10.40sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fde881ca8fe, in abort ×2 + 10.40sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fde881e727d, in raise ×2 + 10.40sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fde88240b2c, in pthread_kill ×2 + 10.40sERRORmove_groupAborted (Signal sent by tkill() 9338 0) ×2 + 10.40sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOmap_serverCleaning up + 10.40sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.40sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.40sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.40sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.40sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.40sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.40sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.40sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.40sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.40sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.40sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.40sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.40sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.40sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.40sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.40sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.40sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.41sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 10.41sINFOobjective_server_node[2026-07-10 04:15:27.744] [moveit_pro_license] [info] ×2 + 10.41sINFOobjective_server_node************************************************* ×4 + 10.41sINFOobjective_server_node* MoveIt Pro License ×2 + 10.41sINFOobjective_server_node* Application has successfully terminated ×2 + 10.41sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.41sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.41sINFOodom_qos_relay.pymain() ×2 + 10.41sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.41sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.41sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.41sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.41sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.41sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.41sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.41sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.41sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.41sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.41sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.41sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.41sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.41sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563bda6306a4, in _start ×2 + 10.41sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdda50ee28a, in __libc_start_main ×2 + 10.41sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdda50ee1d0, in ×2 + 10.41sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdda510bbbd, in exit ×2 + 10.41sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdda510ba75, in ×2 + 10.41sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fdda55da8f5, in spdlog::details::registry::~registry() ×2 + 10.41sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563bda630d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.41sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563bda637315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.41sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563bda6365a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.41sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563bda632b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.41sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x563bda630d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.41sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdda5c90454, in rclcpp::Node::~Node() ×2 + 10.41sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdda5c4b515, in ×2 + 10.41sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdda5c8ed20, in ×2 + 10.41sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdda5c8ec63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.41sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdda5c4b5d9, in ×2 + 10.41sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdda5c50161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.41sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fdd694e4210]) ×2 + 10.42sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.42sERRORamclThe bond connection to the lifecycle manager has been broken + 10.43sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.43sINFOcontroller_serverCleaning up + 10.43sINFOlocal_costmap.local_costmapCleaning up + 10.46sERRORobjective_server_node_main-24process has died [pid 9387, 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_i320wogr --params-file /tmp/launch_params_2loaydzl --params-file /tmp/launch_params_2oy3ydbr --params-file /tmp/launch_params_moa7tgqg --params-file /tmp/launch_params_zyra2u8w --params-file /tmp/launch_params_lokhs_9h --params-file /tmp/launch_params_zva_d5y7 --params-file /tmp/launch_params_edzcr2o_ --params-file /tmp/launch_params_6oh7y5ro']. ×2 + 10.46sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 10.47sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.47sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.47sINFOsmoother_serverCleaning up + 10.49sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.49sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.49sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.49sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.49sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.49sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.49sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.49sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.49sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.49sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.49sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.49sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.50sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.50sINFOros2_control_nodepublish_async_failures_ 4[0m ×4 + 10.92sERRORcomponent_container_isolated-1process has died [pid 9250, 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_cwct0p81 --params-file /tmp/launch_params_43zip3ra -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.22sINFOexecute_objective_bridge-27process has finished cleanly [pid 9391] ×2 + 11.23sERRORui_teleop_bridge-28process has died [pid 9392, 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_1yjkcs8g']. ×2 + 11.23sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9379] ×2 + 11.25sINFOcomponent_container_mt-26process has finished cleanly [pid 9390] ×2 + 11.25sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9341] ×2 + 11.30sINFOparameter_manager_node-20process has finished cleanly [pid 9339] ×2 + 11.32sINFOwaypoint_manager_node-21process has finished cleanly [pid 9340] ×2 + 11.35sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9255] ×2 + 11.37sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9254] ×2 + 11.37sINFOcomponent_container_mt-25process has finished cleanly [pid 9389] ×2 + 11.39sINFOstatic_transform_publisher-3process has finished cleanly [pid 9252] ×2 + 11.41sINFOstatic_transform_publisher-2process has finished cleanly [pid 9251] ×2 + 11.44sERRORodom_qos_relay.py-4process has died [pid 9253, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.73sINFOweb_bridge-29process has finished cleanly [pid 9409] ×2 + 12.73sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 13.04sINFOros2_control_node-7process has finished cleanly [pid 9256] ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.5s | 36 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385641 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385641 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229894 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229894 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192538 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192538 ms (missed cycles : 2).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.704ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770349 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770349 ms (missed cycles : 2).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.46sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783656678.59763908 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.120ms + 3.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.455ms + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.887ms + 4.07sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783656679.15997815 seconds. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313305 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313305 ms (missed cycles : 5).[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.186ms + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.40sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.40sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.40sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.40sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761355 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761355 ms (missed cycles : 2).[0m ×2 + 6.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.059ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948965 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948965 ms (missed cycles : 2).[0m ×2 + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 6.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.597ms + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833287 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833287 ms (missed cycles : 2).[0m ×2 + 7.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.632ms + 7.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.196ms + 8.05sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1783656683.14011645 seconds ×3 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274671 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274671 ms (missed cycles : 2).[0m ×2 + 9.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.917ms + 9.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.879ms + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673878 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673878 ms (missed cycles : 2).[0m ×2 + 9.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.197ms + 9.61sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1783656684.69464636 seconds. ×3 + 9.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.350ms + 9.91sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 9.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.520ms + 10.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.639ms + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324023 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324023 ms (missed cycles : 2).[0m ×2 + 11.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090278 ms (missed cycles : 4). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090278 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.5s | 30 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137383 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137383 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377635 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377635 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955768 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955768 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177396 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177396 ms (missed cycles : 2).[0m ×2 + 3.65sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.65sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783656618.68112183 seconds ×3 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.85sINFOamclParticle filter update iteration stats: 1640 particles 723 points - 1.736ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840960 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840960 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783656619.23354745 seconds. ×3 + 4.45sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 1.393ms + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.1111e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.06sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.06sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.06sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185912 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185912 ms (missed cycles : 3).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866704 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866704 ms (missed cycles : 2).[0m ×2 + 7.16sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1783656622.15369034 seconds ×3 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771197 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771197 ms (missed cycles : 2).[0m ×2 + 7.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1783656622.70750356 seconds. ×3 + 8.03sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120628 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120628 ms (missed cycles : 3).[0m ×2 + 9.24sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711537 ms (missed cycles : 4). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711537 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.0s | 24 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538700 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538700 ms (missed cycles : 3).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.994ms + 0.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.428ms + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.985ms + 0.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.893ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468425 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468425 ms (missed cycles : 5).[0m ×2 + 1.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.576ms + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.403ms + 1.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.380ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779079 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779079 ms (missed cycles : 3).[0m ×2 + 2.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.637ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289859 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289859 ms (missed cycles : 4).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.55sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1783656919.92073226 seconds ×3 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.378ms + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.726ms + 4.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1783656920.50871444 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 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992238 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992238 ms (missed cycles : 4).[0m ×2 + 4.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.979ms + 4.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1783656920.93135023 seconds ×3 + 4.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.668ms + 4.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.277ms + 5.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.738ms + 5.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1783656921.48183656 seconds. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024044 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024044 ms (missed cycles : 3).[0m ×2 + 5.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.652ms + 5.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1783656921.83208919 seconds ×3 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.158ms + 5.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.477ms + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337985 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337985 ms (missed cycles : 3).[0m ×2 + 6.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.367ms + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234860 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234860 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 3 errors · 24 warnings · 180 info |
+ 0.00sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.38sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.38sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.39sINFOros2-18process has finished cleanly [pid 9337] ×2 + 0.43sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.44sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.44sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.44sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.44sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.44sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.44sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.44sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.45sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.45sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.45sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.79sINFOros2-10process has finished cleanly [pid 9328] ×2 + 0.81sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.81sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.83sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.83sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.83sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.83sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 0.86sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.86sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.86sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.86sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.87sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.13sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.13sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.13sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOros2-15process has finished cleanly [pid 9333] ×2 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.60sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.61sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×6 + 5.50sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 5.70sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 + 6.64sINFOjoint_trajectory_controllerReceived new action goal + 6.64sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137383 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137383 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377635 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377635 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955768 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955768 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177396 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177396 ms (missed cycles : 2).[0m ×2 + 3.65sINFOjoint_trajectory_controllerGoal reached, success! + 3.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783656618.68112183 seconds ×3 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.85sINFOamclParticle filter update iteration stats: 1640 particles 723 points - 1.736ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840960 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840960 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783656619.23354745 seconds. ×3 + 4.45sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 1.393ms + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.1111e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.06sINFOjoint_trajectory_controllerReceived new action goal + 5.06sINFOjoint_trajectory_controllerAccepted new action goal + 5.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185912 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185912 ms (missed cycles : 3).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866704 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866704 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 32 warnings · 367 info |
+ 0.00sINFOros2_control_node[2026-07-10 04:09:28.416] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-07-10 04:09:28.417] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.05sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 0.05sINFOmove_groupMoveGroup debug mode is ON + 0.05sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 0.05sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 0.06sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.10sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.10sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.33sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 0.33sINFOmove_group ×8 + 0.33sINFOmove_group******************************************************** ×4 + 0.33sINFOmove_group* MoveGroup using: ×2 + 0.33sINFOmove_group* - apply_planning_scene_service ×2 + 0.33sINFOmove_group* - clear_octomap_service ×2 + 0.33sINFOmove_group* - ExecuteTaskSolution ×2 + 0.33sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.33sINFOmove_group* - get_group_urdf ×2 + 0.33sINFOmove_group* - load_geometry_from_file ×2 + 0.33sINFOmove_group* - get_planning_scene_service ×2 + 0.33sINFOmove_group* - kinematics_service ×2 + 0.33sINFOmove_group* - save_geometry_to_file ×2 + 0.33sINFOmove_group* - GetPlanningGroups ×2 + 0.33sINFOmove_group* - SetActiveControllerService ×2 + 0.33sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.33sINFOmove_group[0m ×2 + 0.33sINFOmove_group[92mYou can start planning now![0m ×2 + 0.34sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.34sINFOros2-17process has finished cleanly [pid 9336] ×2 + 0.43sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.43sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.43sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.43sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.43sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.43sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.43sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.43sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.43sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.43sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.43sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.44sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.44sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.45sWARNobjective_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 + 0.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.81sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.81sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.81sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.81sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.83sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.83sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.85sINFOros2-14process has finished cleanly [pid 9332] ×2 + 0.86sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.86sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.87sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.87sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.87sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.87sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.88sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.88sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.19sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.19sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.19sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.19sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.20sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.24sINFOros2-12process has finished cleanly [pid 9330] ×2 + 1.26sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.26sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.26sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.26sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.27sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.27sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.60sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.60sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.60sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.60sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.61sINFOros2-9process has finished cleanly [pid 9327] ×2 + 1.66sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.66sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.66sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.66sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.67sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 1.91sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 1.91sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.28sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.28sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.28sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.28sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.29sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 2.29sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 2.30sINFOros2-18process has finished cleanly [pid 9337] ×2 + 2.34sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.34sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.35sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.35sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.35sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.35sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.35sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.35sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.35sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.35sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.36sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.36sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.36sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.70sINFOros2-10process has finished cleanly [pid 9328] ×2 + 2.72sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.72sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 2.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 2.77sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.38sINFOros2-15process has finished cleanly [pid 9333] ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 5.51sINFOobjective_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 + 5.51sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.51sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 60 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783656618.68112183 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.20sINFOamclParticle filter update iteration stats: 1640 particles 723 points - 1.736ms + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840960 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840960 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783656619.23354745 seconds. ×3 + 0.80sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 1.393ms + 1.39sINFOobjective_server_nodeFound path in 0 iterations (2.1111e-05 s). ×2 + 1.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.41sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.41sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.41sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.41sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185912 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185912 ms (missed cycles : 3).[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866704 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866704 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1783656622.15369034 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771197 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771197 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1783656622.70750356 seconds. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120628 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120628 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711537 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711537 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385641 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385641 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229894 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229894 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192538 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192538 ms (missed cycles : 2).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.704ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770349 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770349 ms (missed cycles : 2).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783656678.59763908 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.120ms + 3.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.455ms + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.887ms + 4.07sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783656679.15997815 seconds. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313305 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313305 ms (missed cycles : 5).[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.186ms + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.40sINFOjoint_trajectory_controllerReceived new action goal + 4.40sINFOjoint_trajectory_controllerAccepted new action goal + 4.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761355 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761355 ms (missed cycles : 2).[0m ×2 + 6.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.059ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948965 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948965 ms (missed cycles : 2).[0m ×2 + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 6.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.597ms | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385641 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385641 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229894 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229894 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192538 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192538 ms (missed cycles : 2).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.704ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770349 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770349 ms (missed cycles : 2).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783656678.59763908 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.120ms + 3.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.455ms + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.887ms + 4.07sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783656679.15997815 seconds. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313305 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313305 ms (missed cycles : 5).[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.186ms + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.40sINFOjoint_trajectory_controllerReceived new action goal + 4.40sINFOjoint_trajectory_controllerAccepted new action goal + 4.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761355 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761355 ms (missed cycles : 2).[0m ×2 + 6.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.059ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948965 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948965 ms (missed cycles : 2).[0m ×2 + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 6.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.597ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385641 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385641 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229894 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229894 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192538 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192538 ms (missed cycles : 2).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.704ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770349 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770349 ms (missed cycles : 2).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783656678.59763908 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.120ms + 3.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.455ms + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.887ms + 4.07sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783656679.15997815 seconds. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313305 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313305 ms (missed cycles : 5).[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.186ms + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.40sINFOjoint_trajectory_controllerReceived new action goal + 4.40sINFOjoint_trajectory_controllerAccepted new action goal + 4.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761355 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761355 ms (missed cycles : 2).[0m ×2 + 6.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.059ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948965 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948965 ms (missed cycles : 2).[0m ×2 + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 6.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.597ms | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.120ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.816ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.087ms + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783656852.52031517 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.755ms + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.193ms + 4.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783656853.08477640 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.161ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2).[0m ×2 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.731ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.204ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.170ms + 5.67sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.093ms + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.984ms + 6.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.730ms + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 32 warnings · 367 info |
+ 0.00sINFOros2_control_node[2026-07-10 04:09:28.416] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-07-10 04:09:28.417] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.05sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 0.05sINFOmove_groupMoveGroup debug mode is ON + 0.05sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 0.05sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 0.06sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.10sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.10sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.33sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 0.33sINFOmove_group ×8 + 0.33sINFOmove_group******************************************************** ×4 + 0.33sINFOmove_group* MoveGroup using: ×2 + 0.33sINFOmove_group* - apply_planning_scene_service ×2 + 0.33sINFOmove_group* - clear_octomap_service ×2 + 0.33sINFOmove_group* - ExecuteTaskSolution ×2 + 0.33sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.33sINFOmove_group* - get_group_urdf ×2 + 0.33sINFOmove_group* - load_geometry_from_file ×2 + 0.33sINFOmove_group* - get_planning_scene_service ×2 + 0.33sINFOmove_group* - kinematics_service ×2 + 0.33sINFOmove_group* - save_geometry_to_file ×2 + 0.33sINFOmove_group* - GetPlanningGroups ×2 + 0.33sINFOmove_group* - SetActiveControllerService ×2 + 0.33sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.33sINFOmove_group[0m ×2 + 0.33sINFOmove_group[92mYou can start planning now![0m ×2 + 0.34sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.34sINFOros2-17process has finished cleanly [pid 9336] ×2 + 0.43sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.43sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.43sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.43sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.43sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.43sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.43sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.43sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.43sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.43sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.43sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.44sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.44sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.45sWARNobjective_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 + 0.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.81sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.81sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.81sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.81sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.83sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.83sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.85sINFOros2-14process has finished cleanly [pid 9332] ×2 + 0.86sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.86sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.87sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.87sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.87sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.87sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.88sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.88sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.19sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.19sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.19sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.19sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.20sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.24sINFOros2-12process has finished cleanly [pid 9330] ×2 + 1.26sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.26sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.26sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.26sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.27sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.27sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.60sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.60sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.60sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.60sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.61sINFOros2-9process has finished cleanly [pid 9327] ×2 + 1.66sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.66sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.66sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.66sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.67sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 1.91sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 1.91sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.28sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.28sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.28sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.28sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.29sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 2.29sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 2.30sINFOros2-18process has finished cleanly [pid 9337] ×2 + 2.34sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.34sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.35sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.35sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.35sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.35sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.35sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.35sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.35sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.35sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.36sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.36sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.36sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.70sINFOros2-10process has finished cleanly [pid 9328] ×2 + 2.72sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.72sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 2.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 2.77sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.38sINFOros2-15process has finished cleanly [pid 9333] ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 5.51sINFOobjective_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 + 5.51sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.51sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137383 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137383 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377635 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377635 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955768 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955768 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177396 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177396 ms (missed cycles : 2).[0m ×2 + 3.65sINFOjoint_trajectory_controllerGoal reached, success! + 3.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1783656618.68112183 seconds ×3 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.85sINFOamclParticle filter update iteration stats: 1640 particles 723 points - 1.736ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840960 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840960 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1783656619.23354745 seconds. ×3 + 4.45sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 1.393ms + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.1111e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.06sINFOjoint_trajectory_controllerReceived new action goal + 5.06sINFOjoint_trajectory_controllerAccepted new action goal + 5.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185912 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185912 ms (missed cycles : 3).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866704 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866704 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385641 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385641 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229894 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229894 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192538 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192538 ms (missed cycles : 2).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.704ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770349 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770349 ms (missed cycles : 2).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783656678.59763908 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.120ms + 3.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.455ms + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.887ms + 4.07sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783656679.15997815 seconds. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313305 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313305 ms (missed cycles : 5).[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.186ms + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.40sINFOjoint_trajectory_controllerReceived new action goal + 4.40sINFOjoint_trajectory_controllerAccepted new action goal + 4.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761355 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761355 ms (missed cycles : 2).[0m ×2 + 6.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.059ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948965 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948965 ms (missed cycles : 2).[0m ×2 + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 6.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.597ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385641 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385641 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229894 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229894 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192538 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192538 ms (missed cycles : 2).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.704ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770349 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770349 ms (missed cycles : 2).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1783656678.59763908 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.120ms + 3.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.455ms + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.887ms + 4.07sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1783656679.15997815 seconds. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313305 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313305 ms (missed cycles : 5).[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.186ms + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.40sINFOjoint_trajectory_controllerReceived new action goal + 4.40sINFOjoint_trajectory_controllerAccepted new action goal + 4.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761355 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761355 ms (missed cycles : 2).[0m ×2 + 6.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.059ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948965 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948965 ms (missed cycles : 2).[0m ×2 + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 6.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.597ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 86 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.107ms + 0.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.436ms + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705437 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705437 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.630ms + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.041ms + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.152ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.885ms + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.639ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.010ms + 0.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.411ms + 0.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.651ms + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.863ms + 1.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.602ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384230 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384230 ms (missed cycles : 5).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.892ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.789ms + 1.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.956ms + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.056ms + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.797ms + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.017ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.677ms + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.287ms + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.031ms + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.613ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999433 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999433 ms (missed cycles : 2).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.123ms + 2.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.151ms + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.217ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.872ms + 2.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.441ms + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.761ms + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.922ms + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.482ms + 2.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.461ms + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.761ms + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.899ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683156 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683156 ms (missed cycles : 2).[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.305ms + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.798ms + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.657ms + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.011ms + 3.64sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783656714.58481169 seconds ×3 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.197ms + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.999ms + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.711ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.361ms + 4.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.041ms + 4.19sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783656715.13474464 seconds. ×3 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.524ms + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289515 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289515 ms (missed cycles : 4).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.476ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.201ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.534ms + 4.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.597ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.654ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.889ms + 4.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.405ms + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.905ms + 5.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.509ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.290ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119107 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119107 ms (missed cycles : 2).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.186ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.211ms + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.084ms + 5.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660130 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660130 ms (missed cycles : 2).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.416ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 86 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.107ms + 0.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.436ms + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705437 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705437 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.630ms + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.041ms + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.152ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.885ms + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.639ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.010ms + 0.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.411ms + 0.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.651ms + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.863ms + 1.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.602ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384230 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384230 ms (missed cycles : 5).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.892ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.789ms + 1.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.956ms + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.056ms + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.797ms + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.017ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.677ms + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.287ms + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.031ms + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.613ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999433 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999433 ms (missed cycles : 2).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.123ms + 2.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.151ms + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.217ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.872ms + 2.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.441ms + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.761ms + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.922ms + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.482ms + 2.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.461ms + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.761ms + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.899ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683156 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683156 ms (missed cycles : 2).[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.305ms + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.798ms + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.657ms + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.011ms + 3.64sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783656714.58481169 seconds ×3 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.197ms + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.999ms + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.711ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.361ms + 4.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.041ms + 4.19sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783656715.13474464 seconds. ×3 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.524ms + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289515 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289515 ms (missed cycles : 4).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.476ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.201ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.534ms + 4.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.597ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.654ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.889ms + 4.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.405ms + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.905ms + 5.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.509ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.290ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119107 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119107 ms (missed cycles : 2).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.186ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.211ms + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.084ms + 5.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660130 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660130 ms (missed cycles : 2).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.416ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 86 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.107ms + 0.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.436ms + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705437 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705437 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.630ms + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.041ms + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.152ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.885ms + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.639ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.010ms + 0.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.411ms + 0.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.651ms + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.863ms + 1.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.602ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384230 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384230 ms (missed cycles : 5).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.892ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.789ms + 1.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.956ms + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.056ms + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.797ms + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.017ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.677ms + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.287ms + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.031ms + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.613ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999433 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999433 ms (missed cycles : 2).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.123ms + 2.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.151ms + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.217ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.872ms + 2.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.441ms + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.761ms + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.922ms + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.482ms + 2.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.461ms + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.761ms + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.899ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683156 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683156 ms (missed cycles : 2).[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.305ms + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.798ms + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.657ms + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.011ms + 3.64sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1783656714.58481169 seconds ×3 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.197ms + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.999ms + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.711ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.361ms + 4.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.041ms + 4.19sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1783656715.13474464 seconds. ×3 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.524ms + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289515 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289515 ms (missed cycles : 4).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.476ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.201ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.534ms + 4.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.597ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.654ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.889ms + 4.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.405ms + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.905ms + 5.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.509ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.290ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119107 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119107 ms (missed cycles : 2).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.186ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.211ms + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.084ms + 5.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660130 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660130 ms (missed cycles : 2).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.416ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 32 warnings · 367 info |
+ 0.00sINFOros2_control_node[2026-07-10 04:09:28.416] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-07-10 04:09:28.417] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.05sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 0.05sINFOmove_groupMoveGroup debug mode is ON + 0.05sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 0.05sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 0.06sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.10sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.10sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.33sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 0.33sINFOmove_group ×8 + 0.33sINFOmove_group******************************************************** ×4 + 0.33sINFOmove_group* MoveGroup using: ×2 + 0.33sINFOmove_group* - apply_planning_scene_service ×2 + 0.33sINFOmove_group* - clear_octomap_service ×2 + 0.33sINFOmove_group* - ExecuteTaskSolution ×2 + 0.33sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.33sINFOmove_group* - get_group_urdf ×2 + 0.33sINFOmove_group* - load_geometry_from_file ×2 + 0.33sINFOmove_group* - get_planning_scene_service ×2 + 0.33sINFOmove_group* - kinematics_service ×2 + 0.33sINFOmove_group* - save_geometry_to_file ×2 + 0.33sINFOmove_group* - GetPlanningGroups ×2 + 0.33sINFOmove_group* - SetActiveControllerService ×2 + 0.33sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.33sINFOmove_group[0m ×2 + 0.33sINFOmove_group[92mYou can start planning now![0m ×2 + 0.34sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.34sINFOros2-17process has finished cleanly [pid 9336] ×2 + 0.43sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.43sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.43sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.43sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.43sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.43sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.43sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.43sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.43sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.43sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.43sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.44sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.44sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.45sWARNobjective_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 + 0.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.81sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.81sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.81sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.81sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.83sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.83sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.85sINFOros2-14process has finished cleanly [pid 9332] ×2 + 0.86sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.86sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.87sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.87sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.87sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.87sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.88sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.88sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.19sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.19sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.19sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.19sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.20sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.24sINFOros2-12process has finished cleanly [pid 9330] ×2 + 1.26sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.26sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.26sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.26sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.27sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.27sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.60sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.60sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.60sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.60sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.61sINFOros2-9process has finished cleanly [pid 9327] ×2 + 1.66sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.66sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.66sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.66sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.67sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 1.91sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 1.91sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.28sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.28sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.28sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.28sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.29sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 2.29sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 2.30sINFOros2-18process has finished cleanly [pid 9337] ×2 + 2.34sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.34sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.35sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.35sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.35sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.35sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.35sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.35sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.35sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.35sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.36sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.36sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.36sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.70sINFOros2-10process has finished cleanly [pid 9328] ×2 + 2.72sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.72sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 2.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 2.77sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.38sINFOros2-15process has finished cleanly [pid 9333] ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 5.51sINFOobjective_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 + 5.51sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.51sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.120ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.816ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.087ms + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783656852.52031517 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.755ms + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.193ms + 4.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783656853.08477640 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.161ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2).[0m ×2 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.731ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.204ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.170ms + 5.67sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.093ms + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.984ms + 6.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.730ms + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.120ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.816ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.087ms + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783656852.52031517 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.755ms + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.193ms + 4.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783656853.08477640 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.161ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2).[0m ×2 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.731ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.204ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.170ms + 5.67sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.093ms + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.984ms + 6.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.730ms + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.120ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.816ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.087ms + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783656852.52031517 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.755ms + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.193ms + 4.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783656853.08477640 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.161ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2).[0m ×2 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.731ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.204ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.170ms + 5.67sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.093ms + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.984ms + 6.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.730ms + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.120ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.816ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.087ms + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783656852.52031517 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.755ms + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.193ms + 4.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783656853.08477640 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.161ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2).[0m ×2 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.731ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.204ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.170ms + 5.67sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.093ms + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.984ms + 6.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.730ms + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.120ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.816ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.087ms + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783656852.52031517 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.755ms + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.193ms + 4.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783656853.08477640 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.161ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2).[0m ×2 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.731ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.204ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.170ms + 5.67sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.093ms + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.984ms + 6.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.730ms + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.120ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.816ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.087ms + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783656852.52031517 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.755ms + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.193ms + 4.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783656853.08477640 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.161ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2).[0m ×2 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.731ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.204ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.170ms + 5.67sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.093ms + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.984ms + 6.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.730ms + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.120ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362732 ms (missed cycles : 2).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657039 ms (missed cycles : 4).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.816ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243018 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.087ms + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888982 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1783656852.52031517 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.755ms + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.193ms + 4.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1783656853.08477640 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.161ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854157 ms (missed cycles : 2).[0m ×2 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.731ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.204ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.170ms + 5.67sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.093ms + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927904 ms (missed cycles : 3).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.984ms + 6.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.730ms + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904733 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538700 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538700 ms (missed cycles : 3).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.994ms + 0.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.428ms + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.985ms + 0.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.893ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468425 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468425 ms (missed cycles : 5).[0m ×2 + 1.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.576ms + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.403ms + 1.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.380ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779079 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779079 ms (missed cycles : 3).[0m ×2 + 2.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.637ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289859 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289859 ms (missed cycles : 4).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.55sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1783656919.92073226 seconds ×3 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.378ms + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.726ms + 4.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1783656920.50871444 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 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992238 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992238 ms (missed cycles : 4).[0m ×2 + 4.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.979ms + 4.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1783656920.93135023 seconds ×3 + 4.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.668ms + 4.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.277ms + 5.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.738ms + 5.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1783656921.48183656 seconds. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024044 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024044 ms (missed cycles : 3).[0m ×2 + 5.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.652ms + 5.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1783656921.83208919 seconds ×3 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.158ms + 5.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.477ms + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337985 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337985 ms (missed cycles : 3).[0m ×2 + 6.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.367ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[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 | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 20.0s | 15 errors · 297 warnings · 1155 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/2026-07-10-04-09-12-076896-76eb3dfcb516-9200 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 8.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 8.86sINFOstatic_tf_mj_world_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'world' + 8.86sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 8.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 8.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 8.87sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 8.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×2 + 8.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 8.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 8.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 8.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 8.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 8.92sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 8.92sINFOmap_serverCreating + 8.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 8.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 8.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 8.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 8.94sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 8.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×2 + 8.95sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 8.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 8.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 8.96sINFOlifecycle_manager_localizationCreating + 8.97sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 8.97sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 8.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 8.97sINFOcontroller_managerupdate rate is 600 Hz + 8.97sINFOcontroller_managerOverruns handling is : enabled + 8.97sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 8.97sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 8.97sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 8.97sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 8.98sINFOmap_serverConfiguring + 9.03sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.729002 ms (missed cycles : 11). + 9.04sINFOamclConfiguring + 9.05sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 9.05sINFOmap_serverActivating + 9.05sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 9.06sINFOros2_control_node-7process started with pid [9256] ×2 + 9.06sINFOmove_group-19process started with pid [9338] ×2 + 9.07sINFOparameter_manager_node-20process started with pid [9339] ×2 + 9.07sINFOwaypoint_manager_node-21process started with pid [9340] ×2 + 9.07sINFOmove_joint_resampler_node-22process started with pid [9341] ×2 + 9.07sINFOmove_end_effector_resampler_node-23process started with pid [9379] ×2 + 9.07sINFOobjective_server_node_main-24process started with pid [9387] ×2 + 9.07sINFOcomponent_container_mt-25process started with pid [9389] ×2 + 9.07sINFOcomponent_container_mt-26process started with pid [9390] ×2 + 9.07sINFOexecute_objective_bridge-27process started with pid [9391] ×2 + 9.07sINFOui_teleop_bridge-28process started with pid [9392] ×2 + 9.07sINFOweb_bridge-29process started with pid [9409] ×2 + 9.07sINFOtf2_web_republisher_node-30process started with pid [9410] ×2 + 9.07sINFOweb_video_server-31process started with pid [9411] ×2 + 9.08sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 9.09sINFOcomponent_container_isolated-1process started with pid [9250] ×2 + 9.09sINFOstatic_transform_publisher-2process started with pid [9251] ×2 + 9.09sINFOstatic_transform_publisher-3process started with pid [9252] ×2 + 9.09sINFOodom_qos_relay.py-4process started with pid [9253] ×2 + 9.09sINFOscan_to_scan_filter_chain-5process started with pid [9254] ×2 + 9.09sINFOscan_to_scan_filter_chain-6process started with pid [9255] ×2 + 9.09sINFOros2-8process started with pid [9257] ×2 + 9.09sINFOros2-9process started with pid [9327] ×2 + 9.09sINFOros2-10process started with pid [9328] ×2 + 9.09sINFOros2-11process started with pid [9329] ×2 + 9.09sINFOros2-12process started with pid [9330] ×2 + 9.09sINFOros2-13process started with pid [9331] ×2 + 9.09sINFOros2-14process started with pid [9332] ×2 + 9.09sINFOros2-15process started with pid [9333] ×2 + 9.09sINFOros2-16process started with pid [9334] ×2 + 9.09sINFOros2-17process started with pid [9336] ×2 + 9.09sINFOros2-18process started with pid [9337] ×2 + 9.13sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 9.16sINFOlifecycle_manager_localizationServer map_server connected with bond. + 9.16sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 9.16sINFOamclActivating + 9.16sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 9.16sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 9.17sINFOamclSubscribed to initial_pose_topic: /initialpose + 9.17sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 9.17sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 9.17sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 9.17sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 9.17sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 9.17sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 9.18sINFOamclSubscribed to map_topic: /map + 9.18sINFOamclSubscribed to scan_topic: /scan_merged + 9.18sINFOamclCreated reinitialize_global_localization service + 9.18sINFOamclCreated request_nomotion_update service + 9.18sINFOamclA new map was received + 9.18sINFOamclInitializing particle filter instance + 9.19sINFOstatic_transform_publisherfrom 'mj_world' to 'world'[0m ×2 + 9.19sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 9.19sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 9.19sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 9.19sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 9.19sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 9.19sWARNros2_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 + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.729002 ms (missed cycles : 11).[0m ×2 + 9.20sINFOcontroller_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. + 9.21sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 9.22sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 9.31sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 9.31sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 9.31sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 9.31sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 9.32sINFOcontroller_serverCreating controller server + 9.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.34sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.34sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.36sINFOlocal_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. + 9.37sINFOlocal_costmap.local_costmapCreating Costmap + 9.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 9.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 9.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 9.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 9.44sINFOsmoother_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. + 9.45sINFOrobot_state_publisherRobot initialized + 9.45sINFOcomponent_container_mtRobot initialized[0m ×2 + 9.46sINFOcontroller_managerReceived robot description from topic. + 9.46sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 9.46sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 9.46sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 9.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 9.47sINFOsmoother_serverCreating smoother server + 9.48sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 9.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 9.48sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 9.48sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 9.49sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 9.49sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 9.51sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 9.51sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 9.54sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.55sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.55sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 9.55sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.56sINFOamclParticle filter initialization completed + 9.56sINFOamclInitializing particles from estimated pose and covariance + 9.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 9.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 9.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 9.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 9.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 9.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 9.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 9.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 9.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 9.58sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 9.58sINFOlifecycle_manager_localizationServer amcl connected with bond. + 9.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 9.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 9.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 9.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 9.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 9.59sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 9.59sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 9.59sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 9.59sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 9.60sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 9.60sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 9.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 9.61sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 9.61sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 9.62sINFOplanner_serverCreating + 9.67sINFOamclThe bond connection to the lifecycle manager is now fully formed + 9.67sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.68sINFOglobal_costmap.global_costmapCreating Costmap + 9.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 9.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 9.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.71sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 9.77sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 9.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.82sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.83sINFObt_navigatorCreating + 9.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 9.85sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 9.85sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.85sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.86sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.361644 seconds + 9.86sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 9.86sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 9.86sINFOmove_groupLoaded robot model in 0.361644 seconds[0m ×2 + 9.86sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 9.86sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.87sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 9.87sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 9.87sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 9.90sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.91sINFOwaypoint_followerCreating + 9.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 9.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 9.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.92sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.96sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 10.00sINFOlifecycle_manager_navigationCreating + 10.01sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 10.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 10.05sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 10.05sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 10.05sINFOcontroller_serverConfiguring controller interface + 10.05sINFOcontroller_servergetting progress checker plugins.. + 10.05sINFOcontroller_servergetting goal checker plugins.. + 10.05sINFOcontroller_serverController frequency set to 20.0000Hz + 10.05sINFOlocal_costmap.local_costmapConfiguring + 10.06sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 10.08sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260440 ms (missed cycles : 3). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260440 ms (missed cycles : 3).[0m ×2 + 10.14sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 10.14sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 10.15sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 10.20sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 10.21sINFOcontroller_serverController Server has progress_checker progress checkers available. + 10.21sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 10.22sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 10.23sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 10.28sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 10.30sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 10.30sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 10.32sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 10.32sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 10.32sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 10.32sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 10.33sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 10.33sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 10.34sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 10.34sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 10.35sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 10.36sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 10.36sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 10.36sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 10.37sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 10.37sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 10.37sWARNmove_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. + 10.37sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 10.37sWARNmove_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. + 10.37sWARNmove_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 + 10.37sWARNmove_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 + 10.37sWARNmove_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. + 10.37sWARNmove_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. + 10.37sWARNmove_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. + 10.38sWARNmove_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. + 10.38sINFOcontroller_serverOptimizer reset + 10.38sWARNmove_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. + 10.38sWARNmove_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. + 10.38sWARNmove_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 + 10.38sWARNmove_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 + 10.38sWARNmove_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 + 10.38sWARNmove_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 + 10.38sWARNmove_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 + 10.38sINFOwaypoint_manager_nodeLoaded robot model in 0.321824 seconds[0m ×2 + 10.38sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 10.38sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 10.38sWARNmove_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. + 10.38sWARNmove_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. + 10.39sWARNmove_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 + 10.39sWARNmove_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 + 10.39sWARNmove_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 + 10.41sINFOcontroller_serverController Server has FollowPath controllers available. + 10.44sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 10.44sINFOsmoother_serverConfiguring smoother server + 10.46sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 10.47sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 10.48sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 10.48sINFOplanner_serverConfiguring + 10.48sINFOglobal_costmap.global_costmapConfiguring + 10.49sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 10.50sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 10.50sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 10.50sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 10.51sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 10.57sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 10.57sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 10.57sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 10.60sFATALplanner_serverFailed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_navfn_planner/NavfnPlanner with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner::NavfnPlanner nav2_smac_planner::SmacPlanner2D nav2_smac_planner::SmacPlannerHybrid nav2_smac_planner::SmacPlannerLattice nav2_theta_star_planner::ThetaStarPlanner + 10.60sINFOplanner_serverCleaning up + 10.60sINFOglobal_costmap.global_costmapCleaning up + 10.61sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 10.62sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 10.62sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 10.62sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 10.62sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 10.67sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.67sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 10.79sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 10.79sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 10.86sWARNwaypoint_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. + 10.86sWARNwaypoint_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 + 10.86sWARNwaypoint_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. + 10.87sWARNwaypoint_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. + 10.87sWARNwaypoint_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 + 10.87sWARNwaypoint_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 + 10.87sWARNwaypoint_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. + 10.88sWARNwaypoint_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. + 10.88sWARNwaypoint_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. + 10.88sWARNwaypoint_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. + 10.88sWARNwaypoint_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. + 10.88sWARNwaypoint_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 + 10.88sWARNwaypoint_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 + 10.88sWARNwaypoint_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 + 10.89sWARNwaypoint_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. + 10.89sWARNwaypoint_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 + 10.89sWARNwaypoint_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 + 10.89sWARNwaypoint_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 + 10.89sWARNwaypoint_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. + 10.89sWARNwaypoint_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. + 10.89sWARNwaypoint_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. + 10.90sWARNwaypoint_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. + 10.90sWARNwaypoint_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 + 10.90sWARNwaypoint_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. + 10.90sWARNwaypoint_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 + 10.90sWARNwaypoint_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 + 10.90sWARNwaypoint_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 + 10.90sWARNwaypoint_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 + 10.91sWARNwaypoint_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. + 10.91sWARNwaypoint_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. + 10.91sWARNwaypoint_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 + 10.91sWARNwaypoint_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 + 10.91sWARNwaypoint_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. + 10.91sWARNwaypoint_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. + 10.91sWARNwaypoint_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. + 10.91sWARNwaypoint_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. + 10.92sWARNwaypoint_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 + 10.92sWARNwaypoint_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 + 10.92sWARNwaypoint_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 + 10.92sWARNwaypoint_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 + 10.92sWARNwaypoint_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. + 10.92sWARNwaypoint_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. + 10.92sWARNwaypoint_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. + 10.92sWARNwaypoint_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. + 10.92sWARNwaypoint_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 + 10.93sWARNwaypoint_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 + 10.93sWARNwaypoint_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 + 10.93sWARNwaypoint_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 + 10.93sWARNwaypoint_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. + 10.93sWARNwaypoint_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. + 10.93sWARNwaypoint_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. + 10.93sWARNwaypoint_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. + 10.93sWARNwaypoint_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 + 10.93sWARNwaypoint_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 + 10.93sWARNwaypoint_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 + 10.93sWARNwaypoint_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 + 11.15sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 11.15sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 11.15sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 11.15sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 11.15sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 11.15sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 11.16sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 11.16sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 11.16sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 11.16sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 11.16sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 11.16sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 11.16sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 11.17sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 11.17sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 11.17sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 11.17sINFOmove_groupStarting planning scene monitor[0m ×2 + 11.17sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 11.17sINFOmove_groupListening to '/planning_scene'[0m ×2 + 11.17sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 11.17sINFOmove_groupListening to 'collision_object'[0m ×2 + 11.17sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 11.39sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 11.39sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 11.40sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 11.45sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 11.45sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 11.45sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 11.45sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 11.45sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 11.45sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 11.45sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 11.45sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 11.45sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 11.45sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 11.45sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 11.45sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 11.45sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 11.45sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 11.45sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 11.45sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 11.45sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 11.45sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 11.45sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 11.45sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 11.45sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 11.45sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 11.45sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394240 ms (missed cycles : 4). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394240 ms (missed cycles : 4).[0m ×2 + 11.48sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.48sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.48sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 11.55sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.55sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 11.55sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.55sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 11.57sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 11.57sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 11.60sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 11.60sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 11.61sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 11.61sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 11.61sINFOplatform_velocity_controller_nav2configure successful + 11.61sINFOros2_control_nodeconfigure successful[0m ×6 + 11.68sINFOamclParticle filter update iteration stats: 2135 particles 723 points - 3.432ms + 11.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 11.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 11.91sINFOros2-13process has finished cleanly [pid 9331] ×2 + 11.96sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 11.96sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.96sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.96sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.97sINFOforce_torque_sensor_broadcasterconfigure successful + 11.97sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 11.97sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 11.97sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 11.98sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 12.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 12.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 12.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 12.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 12.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 12.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 12.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 12.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 12.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 12.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 12.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 12.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 12.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 12.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 12.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 12.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 12.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 12.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 12.07sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 12.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 12.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 12.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 12.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 12.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 12.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 12.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 12.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 12.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 12.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 12.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 12.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 12.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 12.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 12.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 12.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 12.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 12.08sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 12.08sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 12.09sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 12.09sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 12.09sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 12.09sINFOstreaming_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) + 12.09sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 12.09sINFOcomponent_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 + 12.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 12.09sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 12.09sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 12.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 12.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 12.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 12.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 12.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 12.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 12.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 12.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 12.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 12.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 12.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 12.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 12.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 12.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 12.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 12.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 12.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 12.09sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 12.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 12.10sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 12.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 12.12sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 12.12sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 12.14sINFOobjective_server_node[2026-07-10 04:09:26.684] [moveit_pro_license] [info] ×2 + 12.14sINFOobjective_server_node************************************************* ×4 + 12.14sINFOobjective_server_node* MoveIt Pro License ×2 + 12.14sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 12.21sINFOobjective_server_nodeLoaded robot model in 0.0252954 seconds[0m ×2 + 12.21sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 12.21sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.27sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 12.27sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 12.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 12.28sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 12.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 12.29sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 12.29sWARNcomponent_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 + 12.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 12.29sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 12.29sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.29sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 12.29sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.29sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 12.30sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 12.30sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 12.31sINFOstreaming_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) + 12.31sINFOcomponent_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 + 12.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 12.32sINFOros2-8process has finished cleanly [pid 9257] ×2 + 12.36sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 12.36sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 12.36sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 12.37sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 12.37sINFOplatform_velocity_controllerconfigure successful + 12.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 12.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 12.38sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 12.38sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 12.48sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 12.48sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 12.48sWARNobjective_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. + 12.48sWARNobjective_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. + 12.48sWARNobjective_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 + 12.48sWARNobjective_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 + 12.48sWARNobjective_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. + 12.48sWARNobjective_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. + 12.48sWARNobjective_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 + 12.48sWARNobjective_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 + 12.48sWARNobjective_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. + 12.48sWARNobjective_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. + 12.48sWARNobjective_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 + 12.48sWARNobjective_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. + 12.48sWARNobjective_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 + 12.48sWARNobjective_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. + 12.49sWARNobjective_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 + 12.49sWARNobjective_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 + 12.49sWARNobjective_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. + 12.49sWARNobjective_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. + 12.49sWARNobjective_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 + 12.49sWARNobjective_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 + 12.55sINFOobjective_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 + 12.55sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028365 ms (missed cycles : 2). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028365 ms (missed cycles : 2).[0m ×2 + 12.57sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 12.57sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 12.57sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 12.57sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 12.57sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 12.57sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 12.57sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 12.61sINFOcomponent_container_mtLoaded robot model in 0.326901 seconds[0m ×2 + 12.62sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 12.62sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 12.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 12.73sINFOros2-11process has finished cleanly [pid 9329] ×2 + 12.82sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 12.82sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 12.88sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 12.88sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 12.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.88sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 12.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.89sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 12.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.89sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 12.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.89sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 12.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.90sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 12.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 13.16sINFOros2_control_node[2026-07-10 04:09:27.709] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.17sINFOros2_control_node[2026-07-10 04:09:27.712] [info] Controller state will be published at 10 Hz. ×2 + 13.17sINFOros2_control_node[2026-07-10 04:09:27.713] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.24sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 13.25sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 13.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 13.26sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 13.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 13.39sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 13.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 13.49sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 13.49sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 13.49sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 13.49sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 13.52sINFOros2-16process has finished cleanly [pid 9334] ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477251 ms (missed cycles : 3). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477251 ms (missed cycles : 3).[0m ×2 + 13.56sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 13.56sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 13.61sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 13.61sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 13.61sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 13.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 13.69sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 13.69sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 13.87sINFOros2_control_node[2026-07-10 04:09:28.416] [info] Controller state will be published at 20 Hz. ×2 + 13.87sINFOros2_control_node[2026-07-10 04:09:28.417] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.92sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 13.92sINFOmove_groupMoveGroup debug mode is ON + 13.92sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 13.92sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 13.93sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 13.97sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 13.97sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 14.03sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 14.03sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 14.03sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 14.03sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 14.03sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 14.03sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 14.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 14.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 14.19sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 14.19sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 14.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 14.20sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 14.20sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 14.20sINFOmove_group ×8 + 14.20sINFOmove_group******************************************************** ×4 + 14.20sINFOmove_group* MoveGroup using: ×2 + 14.20sINFOmove_group* - apply_planning_scene_service ×2 + 14.20sINFOmove_group* - clear_octomap_service ×2 + 14.20sINFOmove_group* - ExecuteTaskSolution ×2 + 14.20sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 14.20sINFOmove_group* - get_group_urdf ×2 + 14.20sINFOmove_group* - load_geometry_from_file ×2 + 14.20sINFOmove_group* - get_planning_scene_service ×2 + 14.20sINFOmove_group* - kinematics_service ×2 + 14.20sINFOmove_group* - save_geometry_to_file ×2 + 14.20sINFOmove_group* - GetPlanningGroups ×2 + 14.20sINFOmove_group* - SetActiveControllerService ×2 + 14.20sINFOmove_group* - URDFPlanningSceneCapability ×2 + 14.20sINFOmove_group[0m ×2 + 14.20sINFOmove_group[92mYou can start planning now![0m ×2 + 14.21sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 14.21sINFOros2-17process has finished cleanly [pid 9336] ×2 + 14.30sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 14.30sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 14.30sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 14.30sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 14.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 14.30sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 14.30sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 14.30sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 14.30sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 14.30sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 14.30sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 14.30sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 14.30sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 14.31sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 14.31sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 14.32sWARNobjective_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 + 14.35sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2).[0m ×2 + 14.68sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 14.68sINFOcontroller_managerLoading controller 'vacuum_gripper' + 14.68sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 14.68sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 14.68sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 14.68sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 14.70sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 14.70sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 14.72sINFOros2-14process has finished cleanly [pid 9332] ×2 + 14.73sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 14.73sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 14.73sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 14.73sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 14.74sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 14.74sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 14.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 14.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 14.74sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 14.75sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 15.06sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 15.06sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 15.06sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 15.06sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 15.06sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 15.06sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 15.11sINFOros2-12process has finished cleanly [pid 9330] ×2 + 15.13sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 15.13sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 15.13sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 15.13sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 15.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 15.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 15.14sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 15.14sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 15.47sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 15.47sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 15.47sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 15.47sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 15.47sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 15.47sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 15.48sINFOros2-9process has finished cleanly [pid 9327] ×2 + 15.53sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 15.53sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 15.53sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 15.53sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 15.78sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 15.78sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 16.15sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 16.15sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 16.15sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 16.15sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 16.15sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 16.16sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 16.17sINFOros2-18process has finished cleanly [pid 9337] ×2 + 16.21sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 16.21sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 16.22sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 16.22sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 16.22sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 16.22sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 16.22sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 16.22sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 16.22sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 16.22sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 16.23sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 16.23sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 16.23sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 16.23sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 16.57sINFOros2-10process has finished cleanly [pid 9328] ×2 + 16.59sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 16.61sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 16.61sINFOcontroller_managerLoading controller 'velocity_force_controller' + 16.61sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 16.61sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 16.61sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 16.61sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 16.64sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 16.64sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 16.64sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 16.64sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 16.90sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 16.91sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 16.91sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 16.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 16.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 17.25sINFOros2-15process has finished cleanly [pid 9333] ×2 + 17.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 17.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.52sINFOmove_groupClearing octomap...[0m ×2 + 17.52sINFOmove_groupOctomap cleared.[0m ×2 + 17.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 18.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 18.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 18.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 18.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 18.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 18.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 19.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 19.38sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 19.38sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 19.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 19.38sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 19.38sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 19.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 19.38sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 19.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 19.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 19.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 19.42sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 19.42sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 19.42sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 19.42sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 19.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 19.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 19.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 19.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 20.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 20.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 20.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 20.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 20.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 20.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 20.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 20.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 20.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 3 errors · 33 warnings · 247 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.08sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.08sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.09sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.09sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.10sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.10sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.12sINFOros2-14process has finished cleanly [pid 9332] ×2 + 0.14sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.14sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.14sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.14sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.14sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.14sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.15sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.15sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.47sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.47sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.47sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.47sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.52sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.53sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.53sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.87sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.88sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.93sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.93sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 1.18sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 1.18sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.55sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.55sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.55sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.55sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.56sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.56sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.58sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.62sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.62sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.62sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.62sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.62sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.62sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.62sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.62sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.62sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.64sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.64sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.98sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.99sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.99sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.01sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 2.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.01sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 2.04sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.04sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.31sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.31sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 2.31sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.65sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.79sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.83sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.83sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 5.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 6.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.69sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 3 errors · 32 warnings · 370 info |
+ 0.00sINFOros2_control_node[2026-07-10 04:09:28.416] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-07-10 04:09:28.417] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.05sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 0.05sINFOmove_groupMoveGroup debug mode is ON + 0.05sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 0.05sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 0.06sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.10sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.10sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.33sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 0.33sINFOmove_group ×8 + 0.33sINFOmove_group******************************************************** ×4 + 0.33sINFOmove_group* MoveGroup using: ×2 + 0.33sINFOmove_group* - apply_planning_scene_service ×2 + 0.33sINFOmove_group* - clear_octomap_service ×2 + 0.33sINFOmove_group* - ExecuteTaskSolution ×2 + 0.33sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.33sINFOmove_group* - get_group_urdf ×2 + 0.33sINFOmove_group* - load_geometry_from_file ×2 + 0.33sINFOmove_group* - get_planning_scene_service ×2 + 0.33sINFOmove_group* - kinematics_service ×2 + 0.33sINFOmove_group* - save_geometry_to_file ×2 + 0.33sINFOmove_group* - GetPlanningGroups ×2 + 0.33sINFOmove_group* - SetActiveControllerService ×2 + 0.33sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.33sINFOmove_group[0m ×2 + 0.33sINFOmove_group[92mYou can start planning now![0m ×2 + 0.34sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.34sINFOros2-17process has finished cleanly [pid 9336] ×2 + 0.43sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.43sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.43sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.43sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.43sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.43sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.43sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.43sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.43sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.43sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.43sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.44sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.44sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.45sWARNobjective_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 + 0.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.81sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.81sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.81sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.81sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.83sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.83sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.85sINFOros2-14process has finished cleanly [pid 9332] ×2 + 0.86sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.86sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.87sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.87sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.87sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.87sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.88sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.88sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.19sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.19sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.19sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.19sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.20sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.24sINFOros2-12process has finished cleanly [pid 9330] ×2 + 1.26sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.26sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.26sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.26sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.27sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.27sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.60sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.60sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.60sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.60sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.61sINFOros2-9process has finished cleanly [pid 9327] ×2 + 1.66sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.66sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.66sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.66sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.67sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 1.91sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 1.91sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.28sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.28sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.28sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.28sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.29sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 2.29sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 2.30sINFOros2-18process has finished cleanly [pid 9337] ×2 + 2.34sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.34sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.35sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.35sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.35sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.35sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.35sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.35sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.35sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.35sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.36sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.36sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.36sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.70sINFOros2-10process has finished cleanly [pid 9328] ×2 + 2.72sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.72sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 2.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 2.77sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.38sINFOros2-15process has finished cleanly [pid 9333] ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 5.51sINFOobjective_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 + 5.51sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.51sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 7.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.41sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 4 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-10-04-09-12-076896-76eb3dfcb516-9200 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 32 warnings · 367 info |
+ 0.00sINFOros2_control_node[2026-07-10 04:09:28.416] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-07-10 04:09:28.417] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.05sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 0.05sINFOmove_groupMoveGroup debug mode is ON + 0.05sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 0.05sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 0.06sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.10sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.10sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.33sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 0.33sINFOmove_group ×8 + 0.33sINFOmove_group******************************************************** ×4 + 0.33sINFOmove_group* MoveGroup using: ×2 + 0.33sINFOmove_group* - apply_planning_scene_service ×2 + 0.33sINFOmove_group* - clear_octomap_service ×2 + 0.33sINFOmove_group* - ExecuteTaskSolution ×2 + 0.33sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.33sINFOmove_group* - get_group_urdf ×2 + 0.33sINFOmove_group* - load_geometry_from_file ×2 + 0.33sINFOmove_group* - get_planning_scene_service ×2 + 0.33sINFOmove_group* - kinematics_service ×2 + 0.33sINFOmove_group* - save_geometry_to_file ×2 + 0.33sINFOmove_group* - GetPlanningGroups ×2 + 0.33sINFOmove_group* - SetActiveControllerService ×2 + 0.33sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.33sINFOmove_group[0m ×2 + 0.33sINFOmove_group[92mYou can start planning now![0m ×2 + 0.34sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.34sINFOros2-17process has finished cleanly [pid 9336] ×2 + 0.43sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.43sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.43sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.43sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.43sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.43sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.43sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.43sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.43sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.43sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.43sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.44sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.44sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.45sWARNobjective_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 + 0.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.81sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.81sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.81sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.81sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.83sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.83sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.85sINFOros2-14process has finished cleanly [pid 9332] ×2 + 0.86sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.86sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.87sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.87sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.87sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.87sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.88sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.88sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.19sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.19sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.19sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.19sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.20sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.24sINFOros2-12process has finished cleanly [pid 9330] ×2 + 1.26sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.26sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.26sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.26sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.27sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.27sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.60sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.60sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.60sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.60sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.61sINFOros2-9process has finished cleanly [pid 9327] ×2 + 1.66sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.66sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.66sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.66sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.67sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 1.91sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 1.91sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.28sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.28sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.28sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.28sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.29sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 2.29sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 2.30sINFOros2-18process has finished cleanly [pid 9337] ×2 + 2.34sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.34sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.35sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.35sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.35sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.35sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.35sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.35sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.35sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.35sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.36sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.36sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.36sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.70sINFOros2-10process has finished cleanly [pid 9328] ×2 + 2.72sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.72sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 2.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 2.77sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.38sINFOros2-15process has finished cleanly [pid 9333] ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 5.51sINFOobjective_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 + 5.51sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.51sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 3 errors · 30 warnings · 245 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.08sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.08sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.09sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.09sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.10sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.10sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.12sINFOros2-14process has finished cleanly [pid 9332] ×2 + 0.14sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.14sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.14sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.14sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.14sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.14sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.15sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.15sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.47sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.47sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.47sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.47sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.52sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.53sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.53sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.87sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.87sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.87sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.87sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.88sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.93sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.93sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 1.18sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 1.18sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.55sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.55sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.55sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.55sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.56sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.56sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.58sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.62sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.62sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.62sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.62sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.62sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.62sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.62sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.62sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.62sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.64sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.64sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.98sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.99sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.99sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.01sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 2.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.01sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 2.04sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.04sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.31sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.31sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 2.31sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.65sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.79sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.83sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.83sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 5.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 6.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.69sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 32 warnings · 367 info |
+ 0.00sINFOros2_control_node[2026-07-10 04:09:28.416] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-07-10 04:09:28.417] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.05sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 0.05sINFOmove_groupMoveGroup debug mode is ON + 0.05sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 0.05sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 0.06sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.10sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.10sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.33sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 0.33sINFOmove_group ×8 + 0.33sINFOmove_group******************************************************** ×4 + 0.33sINFOmove_group* MoveGroup using: ×2 + 0.33sINFOmove_group* - apply_planning_scene_service ×2 + 0.33sINFOmove_group* - clear_octomap_service ×2 + 0.33sINFOmove_group* - ExecuteTaskSolution ×2 + 0.33sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.33sINFOmove_group* - get_group_urdf ×2 + 0.33sINFOmove_group* - load_geometry_from_file ×2 + 0.33sINFOmove_group* - get_planning_scene_service ×2 + 0.33sINFOmove_group* - kinematics_service ×2 + 0.33sINFOmove_group* - save_geometry_to_file ×2 + 0.33sINFOmove_group* - GetPlanningGroups ×2 + 0.33sINFOmove_group* - SetActiveControllerService ×2 + 0.33sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.33sINFOmove_group[0m ×2 + 0.33sINFOmove_group[92mYou can start planning now![0m ×2 + 0.34sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.34sINFOros2-17process has finished cleanly [pid 9336] ×2 + 0.43sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.43sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.43sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.43sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.43sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.43sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.43sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.43sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.43sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.43sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.43sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.44sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.44sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.45sWARNobjective_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 + 0.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.81sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.81sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.81sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.81sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.83sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.83sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.85sINFOros2-14process has finished cleanly [pid 9332] ×2 + 0.86sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.86sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.87sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.87sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.87sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.87sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.88sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.88sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.19sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.19sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.19sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.19sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.20sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.24sINFOros2-12process has finished cleanly [pid 9330] ×2 + 1.26sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.26sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.26sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.26sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.27sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.27sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.60sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.60sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.60sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.60sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.61sINFOros2-9process has finished cleanly [pid 9327] ×2 + 1.66sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.66sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.66sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.66sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.67sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 1.91sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 1.91sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.28sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.28sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.28sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.28sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.29sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 2.29sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 2.30sINFOros2-18process has finished cleanly [pid 9337] ×2 + 2.34sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.34sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.35sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.35sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.35sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.35sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.35sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.35sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.35sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.35sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.36sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.36sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.36sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.70sINFOros2-10process has finished cleanly [pid 9328] ×2 + 2.72sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.72sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 2.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 2.77sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.38sINFOros2-15process has finished cleanly [pid 9333] ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 5.51sINFOobjective_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 + 5.51sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.51sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 32 warnings · 367 info |
+ 0.00sINFOros2_control_node[2026-07-10 04:09:28.416] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-07-10 04:09:28.417] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.05sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 0.05sINFOmove_groupMoveGroup debug mode is ON + 0.05sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 0.05sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 0.06sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.10sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.10sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.33sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 0.33sINFOmove_group ×8 + 0.33sINFOmove_group******************************************************** ×4 + 0.33sINFOmove_group* MoveGroup using: ×2 + 0.33sINFOmove_group* - apply_planning_scene_service ×2 + 0.33sINFOmove_group* - clear_octomap_service ×2 + 0.33sINFOmove_group* - ExecuteTaskSolution ×2 + 0.33sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.33sINFOmove_group* - get_group_urdf ×2 + 0.33sINFOmove_group* - load_geometry_from_file ×2 + 0.33sINFOmove_group* - get_planning_scene_service ×2 + 0.33sINFOmove_group* - kinematics_service ×2 + 0.33sINFOmove_group* - save_geometry_to_file ×2 + 0.33sINFOmove_group* - GetPlanningGroups ×2 + 0.33sINFOmove_group* - SetActiveControllerService ×2 + 0.33sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.33sINFOmove_group[0m ×2 + 0.33sINFOmove_group[92mYou can start planning now![0m ×2 + 0.34sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.34sINFOros2-17process has finished cleanly [pid 9336] ×2 + 0.43sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.43sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.43sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.43sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.43sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.43sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.43sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.43sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.43sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.43sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.43sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.44sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.44sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.45sWARNobjective_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 + 0.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922384 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.81sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.81sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.81sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.81sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.83sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.83sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.85sINFOros2-14process has finished cleanly [pid 9332] ×2 + 0.86sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.86sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.87sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.87sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.87sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.87sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.88sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.88sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.19sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.19sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.19sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.19sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.20sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.24sINFOros2-12process has finished cleanly [pid 9330] ×2 + 1.26sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.26sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.26sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.26sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.27sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.27sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.60sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.60sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.60sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.60sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.61sINFOros2-9process has finished cleanly [pid 9327] ×2 + 1.66sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 1.66sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 1.66sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.66sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.67sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.67sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 1.91sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 1.91sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.28sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.28sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.28sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.28sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.29sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 2.29sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 2.30sINFOros2-18process has finished cleanly [pid 9337] ×2 + 2.34sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.34sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.35sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.35sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.35sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.35sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.35sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.35sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.35sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.35sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.36sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.36sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.36sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.70sINFOros2-10process has finished cleanly [pid 9328] ×2 + 2.72sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.72sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 2.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 2.77sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 3.04sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.38sINFOros2-15process has finished cleanly [pid 9333] ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 5.51sINFOobjective_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 + 5.51sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.51sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 3 errors · 27 warnings · 218 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×6 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 + 7.31sINFOjoint_trajectory_controllerReceived new action goal + 7.31sINFOjoint_trajectory_controllerAccepted new action goal + 7.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.31sINFOros2_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 | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 3 errors · 27 warnings · 209 info |
+ 0.00sINFOros2-12process has finished cleanly [pid 9330] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 0.37sINFOros2-9process has finished cleanly [pid 9327] ×2 + 0.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646979 ms (missed cycles : 3).[0m ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.325] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-07-10 04:09:30.326] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.06sINFOros2-18process has finished cleanly [pid 9337] ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2-10process has finished cleanly [pid 9328] ×2 + 1.47sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ddf80mv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bentsytp --params-file /tmp/launch_params_5rcx8y3j [0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142989 ms (missed cycles : 2).[0m ×2 + 1.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.79sINFOros2_control_node[2026-07-10 04:09:31.454] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-07-10 04:09:31.455] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOros2-15process has finished cleanly [pid 9333] ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1783656572.06562471 seconds. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1783656572.07586622 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347803 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1783656572.63957429 seconds. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1783656572.64971566 seconds ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1783656573.19532084 seconds. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107499 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1783656573.34590483 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1783656573.91185951 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1783656573.98595524 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738385 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1783656574.53707576 seconds. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428627 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.17sERRORobjective_server_nodeVisualizePath Error: Cannot find transform between frames `world` (target) and `local` (source). ×3 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926210 ms (missed cycles : 3).[0m ×2 | ||||